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<div class="title">integral_image_normal.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2011, Willow Garage, Inc.</span></div>
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<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_FEATURES_INTEGRALIMAGE_BASED_IMPL_NORMAL_ESTIMATOR_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_FEATURES_INTEGRALIMAGE_BASED_IMPL_NORMAL_ESTIMATOR_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/features/integral_image_normal.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt;</div>
<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#a91460b2cb7e001192bee7df2450d3970">   46</a></span>&#160;<a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a91460b2cb7e001192bee7df2450d3970">pcl::IntegralImageNormalEstimation&lt;PointInT, PointOutT&gt;::~IntegralImageNormalEstimation</a> ()</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;{</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="keywordflow">if</span> (diff_x_ != NULL) <span class="keyword">delete</span>[] diff_x_;</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keywordflow">if</span> (diff_y_ != NULL) <span class="keyword">delete</span>[] diff_y_;</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="keywordflow">if</span> (depth_data_ != NULL) <span class="keyword">delete</span>[] depth_data_;</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="keywordflow">if</span> (distance_map_ != NULL) <span class="keyword">delete</span>[] distance_map_;</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;}</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#a214361c92cfa4fb307f973638b71663c">   56</a></span>&#160;<a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a214361c92cfa4fb307f973638b71663c">pcl::IntegralImageNormalEstimation&lt;PointInT, PointOutT&gt;::initData</a> ()</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;{</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="keywordflow">if</span> (border_policy_ != BORDER_POLICY_IGNORE &amp;&amp;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      border_policy_ != BORDER_POLICY_MIRROR)</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    PCL_THROW_EXCEPTION (<a class="code" href="classpcl_1_1_init_failed_exception.html">InitFailedException</a>,</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;                         <span class="stringliteral">&quot;[pcl::IntegralImageNormalEstimation::initData] unknown border policy.&quot;</span>);</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <span class="keywordflow">if</span> (normal_estimation_method_ != COVARIANCE_MATRIX &amp;&amp;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      normal_estimation_method_ != AVERAGE_3D_GRADIENT &amp;&amp;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      normal_estimation_method_ != AVERAGE_DEPTH_CHANGE &amp;&amp;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      normal_estimation_method_ != SIMPLE_3D_GRADIENT)</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    PCL_THROW_EXCEPTION (<a class="code" href="classpcl_1_1_init_failed_exception.html">InitFailedException</a>,</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;                         <span class="stringliteral">&quot;[pcl::IntegralImageNormalEstimation::initData] unknown normal estimation method.&quot;</span>);</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  <span class="comment">// compute derivatives</span></div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="keywordflow">if</span> (diff_x_ != NULL) <span class="keyword">delete</span>[] diff_x_;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="keywordflow">if</span> (diff_y_ != NULL) <span class="keyword">delete</span>[] diff_y_;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <span class="keywordflow">if</span> (depth_data_ != NULL) <span class="keyword">delete</span>[] depth_data_;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="keywordflow">if</span> (distance_map_ != NULL) <span class="keyword">delete</span>[] distance_map_;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  diff_x_ = NULL;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  diff_y_ = NULL;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  depth_data_ = NULL;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  distance_map_ = NULL;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="keywordflow">if</span> (normal_estimation_method_ == COVARIANCE_MATRIX)</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    initCovarianceMatrixMethod ();</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (normal_estimation_method_ == AVERAGE_3D_GRADIENT)</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    initAverage3DGradientMethod ();</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (normal_estimation_method_ == AVERAGE_DEPTH_CHANGE)</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    initAverageDepthChangeMethod ();</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (normal_estimation_method_ == SIMPLE_3D_GRADIENT)</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    initSimple3DGradientMethod ();</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;}</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#a51049e633396d653658a771a7be0bb9d">   93</a></span>&#160;<a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a51049e633396d653658a771a7be0bb9d">pcl::IntegralImageNormalEstimation&lt;PointInT, PointOutT&gt;::setRectSize</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> width, <span class="keyword">const</span> <span class="keywordtype">int</span> height)</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;{</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  rect_width_      = width;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  rect_width_2_    = width/2;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  rect_width_4_    = width/4;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  rect_height_     = height;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  rect_height_2_   = height/2;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  rect_height_4_   = height/4;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;}</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#a6f9aab3bed5a81f6d81bbf5495e7514f">  105</a></span>&#160;<a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a6f9aab3bed5a81f6d81bbf5495e7514f">pcl::IntegralImageNormalEstimation&lt;PointInT, PointOutT&gt;::initSimple3DGradientMethod</a> ()</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;{</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  <span class="comment">// number of DataType entries per element (equal or bigger than dimensions)</span></div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  <span class="keywordtype">int</span> element_stride = <span class="keyword">sizeof</span> (PointInT) / <span class="keyword">sizeof</span> (<span class="keywordtype">float</span>);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  <span class="comment">// number of DataType entries per row (equal or bigger than element_stride number of elements per row)</span></div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  <span class="keywordtype">int</span> row_stride     = element_stride * input_-&gt;width;</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> *data_ = <span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">float</span>*<span class="keyword">&gt;</span> (&amp;input_-&gt;points[0]);</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  integral_image_XYZ_.setSecondOrderComputation (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  integral_image_XYZ_.setInput (data_, input_-&gt;width, input_-&gt;height, element_stride, row_stride);</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  init_simple_3d_gradient_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  init_covariance_matrix_ = init_average_3d_gradient_ = init_depth_change_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;}</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#a168c03eb1553206db701656fdb0a69ba">  123</a></span>&#160;<a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a168c03eb1553206db701656fdb0a69ba">pcl::IntegralImageNormalEstimation&lt;PointInT, PointOutT&gt;::initCovarianceMatrixMethod</a> ()</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;{</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  <span class="comment">// number of DataType entries per element (equal or bigger than dimensions)</span></div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  <span class="keywordtype">int</span> element_stride = <span class="keyword">sizeof</span> (PointInT) / <span class="keyword">sizeof</span> (<span class="keywordtype">float</span>);</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  <span class="comment">// number of DataType entries per row (equal or bigger than element_stride number of elements per row)</span></div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  <span class="keywordtype">int</span> row_stride     = element_stride * input_-&gt;width;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> *data_ = <span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">float</span>*<span class="keyword">&gt;</span> (&amp;input_-&gt;points[0]);</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  integral_image_XYZ_.setSecondOrderComputation (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  integral_image_XYZ_.setInput (data_, input_-&gt;width, input_-&gt;height, element_stride, row_stride);</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  init_covariance_matrix_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  init_average_3d_gradient_ = init_depth_change_ = init_simple_3d_gradient_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;}</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00141"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#aea7b9064b3ccab7deb396ec16ada6200">  141</a></span>&#160;<a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#aea7b9064b3ccab7deb396ec16ada6200">pcl::IntegralImageNormalEstimation&lt;PointInT, PointOutT&gt;::initAverage3DGradientMethod</a> ()</div>
<div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#a91460b2cb7e001192bee7df2450d3970">  142</a></span>&#160;{</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  <span class="keywordtype">size_t</span> data_size = (input_-&gt;points.size () &lt;&lt; 2);</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  diff_x_ = <span class="keyword">new</span> <span class="keywordtype">float</span>[data_size];</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  diff_y_ = <span class="keyword">new</span> <span class="keywordtype">float</span>[data_size];</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  memset (diff_x_, 0, <span class="keyword">sizeof</span>(<span class="keywordtype">float</span>) * data_size);</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  memset (diff_y_, 0, <span class="keyword">sizeof</span>(<span class="keywordtype">float</span>) * data_size);</div>
<div class="line"><a name="l00149"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#a51049e633396d653658a771a7be0bb9d">  149</a></span>&#160; </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  <span class="comment">// x u x</span></div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  <span class="comment">// l x r</span></div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  <span class="comment">// x d x</span></div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  <span class="keyword">const</span> PointInT* point_up = &amp;(input_-&gt;points [1]);</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  <span class="keyword">const</span> PointInT* point_dn = point_up + (input_-&gt;width &lt;&lt; 1);<span class="comment">//&amp;(input_-&gt;points [1 + (input_-&gt;width &lt;&lt; 1)]);</span></div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  <span class="keyword">const</span> PointInT* point_lf = &amp;(input_-&gt;points [input_-&gt;width]);</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;  <span class="keyword">const</span> PointInT* point_rg = point_lf + 2; <span class="comment">//&amp;(input_-&gt;points [input_-&gt;width + 2]);</span></div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  <span class="keywordtype">float</span>* diff_x_ptr = diff_x_ + ((input_-&gt;width + 1) &lt;&lt; 2);</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;  <span class="keywordtype">float</span>* diff_y_ptr = diff_y_ + ((input_-&gt;width + 1) &lt;&lt; 2);</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  <span class="keywordtype">unsigned</span> diff_skip = 8; <span class="comment">// skip last element in row and the first in the next row</span></div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> ri = 1; ri &lt; input_-&gt;height - 1; ++ri</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;                                             , point_up += input_-&gt;width</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;                                             , point_dn += input_-&gt;width</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;                                             , point_lf += input_-&gt;width</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;                                             , point_rg += input_-&gt;width</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;                                             , diff_x_ptr += diff_skip</div>
<div class="line"><a name="l00167"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#abd934a08c5d9bf148833a21e6892303a">  167</a></span>&#160;                                             , diff_y_ptr += diff_skip)</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  {</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> ci = 0; ci &lt; input_-&gt;width - 2; ++ci, diff_x_ptr += 4, diff_y_ptr += 4)</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    {</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      diff_x_ptr[0] = point_rg[ci].x - point_lf[ci].x;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      diff_x_ptr[1] = point_rg[ci].y - point_lf[ci].y;</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      diff_x_ptr[2] = point_rg[ci].z - point_lf[ci].z;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      diff_y_ptr[0] = point_dn[ci].x - point_up[ci].x;</div>
<div class="line"><a name="l00176"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#ae4653eef47ea949d65d16178549aae1a">  176</a></span>&#160;      diff_y_ptr[1] = point_dn[ci].y - point_up[ci].y;</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      diff_y_ptr[2] = point_dn[ci].z - point_up[ci].z;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    }</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  }</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  <span class="comment">// Compute integral images</span></div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  integral_image_DX_.setInput (diff_x_, input_-&gt;width, input_-&gt;height, 4, input_-&gt;width &lt;&lt; 2);</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  integral_image_DY_.setInput (diff_y_, input_-&gt;width, input_-&gt;height, 4, input_-&gt;width &lt;&lt; 2);</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  init_covariance_matrix_ = init_depth_change_ = init_simple_3d_gradient_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  init_average_3d_gradient_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;}</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00190"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#adab913e619caca17ebaf950f07a7dc5b">  190</a></span>&#160;<a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#adab913e619caca17ebaf950f07a7dc5b">pcl::IntegralImageNormalEstimation&lt;PointInT, PointOutT&gt;::initAverageDepthChangeMethod</a> ()</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;{</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  <span class="comment">// number of DataType entries per element (equal or bigger than dimensions)</span></div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;  <span class="keywordtype">int</span> element_stride = <span class="keyword">sizeof</span> (PointInT) / <span class="keyword">sizeof</span> (<span class="keywordtype">float</span>);</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;  <span class="comment">// number of DataType entries per row (equal or bigger than element_stride number of elements per row)</span></div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;  <span class="keywordtype">int</span> row_stride     = element_stride * input_-&gt;width;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> *data_ = <span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">float</span>*<span class="keyword">&gt;</span> (&amp;input_-&gt;points[0]);</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160; </div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;  <span class="comment">// integral image over the z - value</span></div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  integral_image_depth_.setInput (&amp;(data_[2]), input_-&gt;width, input_-&gt;height, element_stride, row_stride);</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  init_depth_change_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  init_covariance_matrix_ = init_average_3d_gradient_ = init_simple_3d_gradient_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;}</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00207"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#abd934a08c5d9bf148833a21e6892303a">  207</a></span>&#160;<a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#abd934a08c5d9bf148833a21e6892303a">pcl::IntegralImageNormalEstimation&lt;PointInT, PointOutT&gt;::computePointNormal</a> (</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> pos_x, <span class="keyword">const</span> <span class="keywordtype">int</span> pos_y, <span class="keyword">const</span> <span class="keywordtype">unsigned</span> point_index, PointOutT &amp;normal)</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;{</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  <span class="keywordtype">float</span> bad_point = std::numeric_limits&lt;float&gt;::quiet_NaN ();</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160; </div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  <span class="keywordflow">if</span> (normal_estimation_method_ == COVARIANCE_MATRIX)</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;  {</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    <span class="keywordflow">if</span> (!init_covariance_matrix_)</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      initCovarianceMatrixMethod ();</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    <span class="keywordtype">unsigned</span> count = integral_image_XYZ_.getFiniteElementsCount (pos_x - (rect_width_2_), pos_y - (rect_height_2_), rect_width_, rect_height_);</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160; </div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    <span class="comment">// no valid points within the rectangular reagion?</span></div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    <span class="keywordflow">if</span> (count == 0)</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    {</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;      normal.normal_x = normal.normal_y = normal.normal_z = normal.curvature = bad_point;</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;    }</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160; </div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    EIGEN_ALIGN16 Eigen::Matrix3f covariance_matrix;</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    Eigen::Vector3f center;</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_integral_image2_d.html">IntegralImage2D&lt;float, 3&gt;::SecondOrderType</a> so_elements;</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    center = integral_image_XYZ_.<a class="code" href="classpcl_1_1_integral_image2_d.html#a70bfd91805661121e56c107a98a5fd1c">getFirstOrderSum</a>(pos_x - rect_width_2_, pos_y - rect_height_2_, rect_width_, rect_height_).template cast&lt;float&gt; ();</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    so_elements = integral_image_XYZ_.<a class="code" href="classpcl_1_1_integral_image2_d.html#af813d8e28b73a34bc9c9d492b1bf1cb9">getSecondOrderSum</a>(pos_x - rect_width_2_, pos_y - rect_height_2_, rect_width_, rect_height_);</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160; </div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    covariance_matrix.coeffRef (0) = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (so_elements [0]);</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    covariance_matrix.coeffRef (1) = covariance_matrix.coeffRef (3) = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (so_elements [1]);</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;    covariance_matrix.coeffRef (2) = covariance_matrix.coeffRef (6) = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (so_elements [2]);</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    covariance_matrix.coeffRef (4) = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (so_elements [3]);</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    covariance_matrix.coeffRef (5) = covariance_matrix.coeffRef (7) = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (so_elements [4]);</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;    covariance_matrix.coeffRef (8) = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (so_elements [5]);</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;    covariance_matrix -= (center * center.transpose ()) / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (count);</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    <span class="keywordtype">float</span> eigen_value;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    Eigen::Vector3f eigen_vector;</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;    <a class="code" href="group__common.html#gaca873868052e7d26efcf4b684a17bef2">pcl::eigen33</a> (covariance_matrix, eigen_value, eigen_vector);</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    flipNormalTowardsViewpoint (input_-&gt;points[point_index], vpx_, vpy_, vpz_, eigen_vector[0], eigen_vector[1], eigen_vector[2]);</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    normal.getNormalVector3fMap () = eigen_vector;</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160; </div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    <span class="comment">// Compute the curvature surface change</span></div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    <span class="keywordflow">if</span> (eigen_value &gt; 0.0)</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;      normal.curvature = fabsf (eigen_value / (covariance_matrix.coeff (0) + covariance_matrix.coeff (4) + covariance_matrix.coeff (8)));</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;      normal.curvature = 0;</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160; </div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;  }</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (normal_estimation_method_ == AVERAGE_3D_GRADIENT)</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;  {</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    <span class="keywordflow">if</span> (!init_average_3d_gradient_)</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;      initAverage3DGradientMethod ();</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160; </div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;    <span class="keywordtype">unsigned</span> count_x = integral_image_DX_.getFiniteElementsCount (pos_x - rect_width_2_, pos_y - rect_height_2_, rect_width_, rect_height_);</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;    <span class="keywordtype">unsigned</span> count_y = integral_image_DY_.getFiniteElementsCount (pos_x - rect_width_2_, pos_y - rect_height_2_, rect_width_, rect_height_);</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;    <span class="keywordflow">if</span> (count_x == 0 || count_y == 0)</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;    {</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;      normal.normal_x = normal.normal_y = normal.normal_z = normal.curvature = bad_point;</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;      <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;    }</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;    Eigen::Vector3d gradient_x = integral_image_DX_.getFirstOrderSum (pos_x - rect_width_2_, pos_y - rect_height_2_, rect_width_, rect_height_);</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;    Eigen::Vector3d gradient_y = integral_image_DY_.getFirstOrderSum (pos_x - rect_width_2_, pos_y - rect_height_2_, rect_width_, rect_height_);</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160; </div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;    Eigen::Vector3d normal_vector = gradient_y.cross (gradient_x);</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;    <span class="keywordtype">double</span> normal_length = normal_vector.squaredNorm ();</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;    <span class="keywordflow">if</span> (normal_length == 0.0f)</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;    {</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;      normal.getNormalVector3fMap ().setConstant (bad_point);</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;      normal.curvature = bad_point;</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;      <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;    }</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160; </div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;    normal_vector /= sqrt (normal_length);</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160; </div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;    <span class="keywordtype">float</span> nx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (normal_vector [0]);</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;    <span class="keywordtype">float</span> ny = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (normal_vector [1]);</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;    <span class="keywordtype">float</span> nz = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (normal_vector [2]);</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160; </div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;    flipNormalTowardsViewpoint (input_-&gt;points[point_index], vpx_, vpy_, vpz_, nx, ny, nz);</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160; </div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;    normal.normal_x = nx;</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;    normal.normal_y = ny;</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;    normal.normal_z = nz;</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;    normal.curvature = bad_point;</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;  }</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (normal_estimation_method_ == AVERAGE_DEPTH_CHANGE)</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;  {</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;    <span class="keywordflow">if</span> (!init_depth_change_)</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;      initAverageDepthChangeMethod ();</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160; </div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;    <span class="comment">// width and height are at least 3 x 3</span></div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;    <span class="keywordtype">unsigned</span> count_L_z = integral_image_depth_.getFiniteElementsCount (pos_x - rect_width_2_, pos_y - rect_height_4_, rect_width_2_, rect_height_2_);</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;    <span class="keywordtype">unsigned</span> count_R_z = integral_image_depth_.getFiniteElementsCount (pos_x + 1            , pos_y - rect_height_4_, rect_width_2_, rect_height_2_);</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;    <span class="keywordtype">unsigned</span> count_U_z = integral_image_depth_.getFiniteElementsCount (pos_x - rect_width_4_, pos_y - rect_height_2_, rect_width_2_, rect_height_2_);</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;    <span class="keywordtype">unsigned</span> count_D_z = integral_image_depth_.getFiniteElementsCount (pos_x - rect_width_4_, pos_y + 1             , rect_width_2_, rect_height_2_);</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160; </div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;    <span class="keywordflow">if</span> (count_L_z == 0 || count_R_z == 0 || count_U_z == 0 || count_D_z == 0)</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;    {</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;      normal.normal_x = normal.normal_y = normal.normal_z = normal.curvature = bad_point;</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;      <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;    }</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160; </div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;    <span class="keywordtype">float</span> mean_L_z = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (integral_image_depth_.getFirstOrderSum (pos_x - rect_width_2_, pos_y - rect_height_4_, rect_width_2_, rect_height_2_) / count_L_z);</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;    <span class="keywordtype">float</span> mean_R_z = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (integral_image_depth_.getFirstOrderSum (pos_x + 1            , pos_y - rect_height_4_, rect_width_2_, rect_height_2_) / count_R_z);</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;    <span class="keywordtype">float</span> mean_U_z = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (integral_image_depth_.getFirstOrderSum (pos_x - rect_width_4_, pos_y - rect_height_2_, rect_width_2_, rect_height_2_) / count_U_z);</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;    <span class="keywordtype">float</span> mean_D_z = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (integral_image_depth_.getFirstOrderSum (pos_x - rect_width_4_, pos_y + 1             , rect_width_2_, rect_height_2_) / count_D_z);</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160; </div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;    PointInT pointL = input_-&gt;points[point_index - rect_width_4_ - 1];</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;    PointInT pointR = input_-&gt;points[point_index + rect_width_4_ + 1];</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;    PointInT pointU = input_-&gt;points[point_index - rect_height_4_ * input_-&gt;width - 1];</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;    PointInT pointD = input_-&gt;points[point_index + rect_height_4_ * input_-&gt;width + 1];</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160; </div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> mean_x_z = mean_R_z - mean_L_z;</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> mean_y_z = mean_D_z - mean_U_z;</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160; </div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> mean_x_x = pointR.x - pointL.x;</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> mean_x_y = pointR.y - pointL.y;</div>
<div class="line"><a name="l00323"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#af72a8687d1eae7bb34ee730ea3f7b5a8">  323</a></span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> mean_y_x = pointD.x - pointU.x;</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> mean_y_y = pointD.y - pointU.y;</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160; </div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;    <span class="keywordtype">float</span> normal_x = mean_x_y * mean_y_z - mean_x_z * mean_y_y;</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;    <span class="keywordtype">float</span> normal_y = mean_x_z * mean_y_x - mean_x_x * mean_y_z;</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;    <span class="keywordtype">float</span> normal_z = mean_x_x * mean_y_y - mean_x_y * mean_y_x;</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160; </div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> normal_length = (normal_x * normal_x + normal_y * normal_y + normal_z * normal_z);</div>
<div class="line"><a name="l00331"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#ab710003086195c2724920eae92538e48">  331</a></span>&#160; </div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;    <span class="keywordflow">if</span> (normal_length == 0.0f)</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;    {</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;      normal.getNormalVector3fMap ().setConstant (bad_point);</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;      normal.curvature = bad_point;</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;      <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;    }</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160; </div>
<div class="line"><a name="l00339"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#ac19f02fb42b8330569161f23adf03994">  339</a></span>&#160;    flipNormalTowardsViewpoint (input_-&gt;points[point_index], vpx_, vpy_, vpz_, normal_x, normal_y, normal_z);</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;    </div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> scale = 1.0f / std::sqrt (normal_length);</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160; </div>
<div class="line"><a name="l00343"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#a214361c92cfa4fb307f973638b71663c">  343</a></span>&#160;    normal.normal_x = normal_x * scale;</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;    normal.normal_y = normal_y * scale;</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;    normal.normal_z = normal_z * scale;</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;    normal.curvature = bad_point;</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160; </div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;  }</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (normal_estimation_method_ == SIMPLE_3D_GRADIENT)</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;  {</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;    <span class="keywordflow">if</span> (!init_simple_3d_gradient_)</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;      initSimple3DGradientMethod ();</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160; </div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;    <span class="comment">// this method does not work if lots of NaNs are in the neighborhood of the point</span></div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;    Eigen::Vector3d gradient_x = integral_image_XYZ_.getFirstOrderSum (pos_x + rect_width_2_, pos_y - rect_height_2_, 1, rect_height_) -</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;                                 integral_image_XYZ_.getFirstOrderSum (pos_x - rect_width_2_, pos_y - rect_height_2_, 1, rect_height_);</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160; </div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;    Eigen::Vector3d gradient_y = integral_image_XYZ_.getFirstOrderSum (pos_x - rect_width_2_, pos_y + rect_height_2_, rect_width_, 1) -</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;                                 integral_image_XYZ_.getFirstOrderSum (pos_x - rect_width_2_, pos_y - rect_height_2_, rect_width_, 1);</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;    Eigen::Vector3d normal_vector = gradient_y.cross (gradient_x);</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;    <span class="keywordtype">double</span> normal_length = normal_vector.squaredNorm ();</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;    <span class="keywordflow">if</span> (normal_length == 0.0f)</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;    {</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;      normal.getNormalVector3fMap ().setConstant (bad_point);</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;      normal.curvature = bad_point;</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;      <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;    }</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160; </div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;    normal_vector /= sqrt (normal_length);</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160; </div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;    <span class="keywordtype">float</span> nx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (normal_vector [0]);</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;    <span class="keywordtype">float</span> ny = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (normal_vector [1]);</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;    <span class="keywordtype">float</span> nz = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (normal_vector [2]);</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160; </div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;    flipNormalTowardsViewpoint (input_-&gt;points[point_index], vpx_, vpy_, vpz_, nx, ny, nz);</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;    </div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;    normal.normal_x = nx;</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;    normal.normal_y = ny;</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;    normal.normal_z = nz;</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;    normal.curvature = bad_point;</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;  }</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160; </div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;  normal.getNormalVector3fMap ().setConstant (bad_point);</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;  normal.curvature = bad_point;</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;  <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;}</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160; </div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;<span class="keywordtype">void</span></div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;sumArea (<span class="keywordtype">int</span> start_x, <span class="keywordtype">int</span> start_y, <span class="keywordtype">int</span> end_x, <span class="keywordtype">int</span> end_y, <span class="keyword">const</span> <span class="keywordtype">int</span> width, <span class="keyword">const</span> <span class="keywordtype">int</span> height,</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;  <span class="keyword">const</span> boost::function&lt;T(<span class="keywordtype">unsigned</span>, <span class="keywordtype">unsigned</span>, <span class="keywordtype">unsigned</span>, <span class="keywordtype">unsigned</span>)&gt; &amp;f, </div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;  T &amp; result)</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;{</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;  <span class="keywordflow">if</span> (start_x &lt; 0)</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;  {</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;    <span class="keywordflow">if</span> (start_y &lt; 0)</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;    {</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;      result += f (0, 0, end_x, end_y);</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;      result += f (0, 0, -start_x, -start_y);</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;      result += f (0, 0, -start_x, end_y);</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;      result += f (0, 0, end_x, -start_y);</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;    }</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> (end_y &gt;= height)</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;    {</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;      result += f (0, start_y, end_x, height-1);</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;      result += f (0, start_y, -start_x, height-1);</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;      result += f (0, height-(end_y-(height-1)), end_x, height-1);</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;      result += f (0, height-(end_y-(height-1)), -start_x, height-1);</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;    }</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;    {</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;      result += f (0, start_y, end_x, end_y);</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;      result += f (0, start_y, -start_x, end_y);</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;    }</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;  }</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (start_y &lt; 0)</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;  {</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;    <span class="keywordflow">if</span> (end_x &gt;= width)</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;    {</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;      result += f (start_x, 0, width-1, end_y);</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;      result += f (start_x, 0, width-1, -start_y);</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;      result += f (width-(end_x-(width-1)), 0, width-1, end_y);</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;      result += f (width-(end_x-(width-1)), 0, width-1, -start_y);</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;    }</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;    {</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;      result += f (start_x, 0, end_x, end_y);</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;      result += f (start_x, 0, end_x, -start_y);</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;    }</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;  }</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (end_x &gt;= width)</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;  {</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;    <span class="keywordflow">if</span> (end_y &gt;= height)</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;    {</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;      result += f (start_x, start_y, width-1, height-1);</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;      result += f (start_x, height-(end_y-(height-1)), width-1, height-1);</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;      result += f (width-(end_x-(width-1)), start_y, width-1, height-1);</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;      result += f (width-(end_x-(width-1)), height-(end_y-(height-1)), width-1, height-1);</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;    }</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;    {</div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;      result += f (start_x, start_y, width-1, end_y);</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;      result += f (width-(end_x-(width-1)), start_y, width-1, end_y);</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;    }</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;  }</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (end_y &gt;= height)</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;  {</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;    result += f (start_x, start_y, end_x, height-1);</div>
<div class="line"><a name="l00452"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#a499e7003cebffe7cf7504f0397abb3a5">  452</a></span>&#160;    result += f (start_x, height-(end_y-(height-1)), end_x, height-1);</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;  }</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;  {</div>
<div class="line"><a name="l00456"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#a168c03eb1553206db701656fdb0a69ba">  456</a></span>&#160;    result += f (start_x, start_y, end_x, end_y);</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;  }</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;}</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160; </div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00462"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#ae4653eef47ea949d65d16178549aae1a">  462</a></span>&#160;<a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#ae4653eef47ea949d65d16178549aae1a">pcl::IntegralImageNormalEstimation&lt;PointInT, PointOutT&gt;::computePointNormalMirror</a> (</div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> pos_x, <span class="keyword">const</span> <span class="keywordtype">int</span> pos_y, <span class="keyword">const</span> <span class="keywordtype">unsigned</span> point_index, PointOutT &amp;normal)</div>
<div class="line"><a name="l00464"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#adab913e619caca17ebaf950f07a7dc5b">  464</a></span>&#160;{</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;  <span class="keywordtype">float</span> bad_point = std::numeric_limits&lt;float&gt;::quiet_NaN ();</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160; </div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> width = input_-&gt;width;</div>
<div class="line"><a name="l00468"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#a6f9aab3bed5a81f6d81bbf5495e7514f">  468</a></span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> height = input_-&gt;height;</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160; </div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;  <span class="comment">// ==============================================================</span></div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;  <span class="keywordflow">if</span> (normal_estimation_method_ == COVARIANCE_MATRIX) </div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;  {</div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;    <span class="keywordflow">if</span> (!init_covariance_matrix_)</div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;      initCovarianceMatrixMethod ();</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160; </div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> start_x = pos_x - rect_width_2_;</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> start_y = pos_y - rect_height_2_;</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> end_x = start_x + rect_width_;</div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> end_y = start_y + rect_height_;</div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160; </div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;    <span class="keywordtype">unsigned</span> count = 0;</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;    sumArea&lt;unsigned&gt;(start_x, start_y, end_x, end_y, width, height, boost::bind(&amp;<a class="code" href="classpcl_1_1_integral_image2_d.html">IntegralImage2D&lt;float, 3&gt;::getFiniteElementsCountSE</a>, &amp;integral_image_XYZ_, _1, _2, _3, _4), count);</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;    </div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;    <span class="comment">// no valid points within the rectangular reagion?</span></div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;    <span class="keywordflow">if</span> (count == 0)</div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;    {</div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;      normal.normal_x = normal.normal_y = normal.normal_z = normal.curvature = bad_point;</div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;      <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;    }</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160; </div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;    EIGEN_ALIGN16 Eigen::Matrix3f covariance_matrix;</div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;    Eigen::Vector3f center;</div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;    <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_integral_image2_d.html">IntegralImage2D&lt;float, 3&gt;::SecondOrderType</a> so_elements;</div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;    <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_integral_image2_d.html">IntegralImage2D&lt;float, 3&gt;::ElementType</a> tmp_center;</div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;    <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_integral_image2_d.html">IntegralImage2D&lt;float, 3&gt;::SecondOrderType</a> tmp_so_elements;</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160; </div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;    center[0] = 0;</div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;    center[1] = 0;</div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;    center[2] = 0;</div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;    tmp_center[0] = 0;</div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;    tmp_center[1] = 0;</div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;    tmp_center[2] = 0;</div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;    so_elements[0] = 0;</div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;    so_elements[1] = 0;</div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;    so_elements[2] = 0;</div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;    so_elements[3] = 0;</div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;    so_elements[4] = 0;</div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;    so_elements[5] = 0;</div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160; </div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;    sumArea&lt;typename IntegralImage2D&lt;float, 3&gt;::ElementType&gt;(start_x, start_y, end_x, end_y, width, height, boost::bind(&amp;<a class="code" href="classpcl_1_1_integral_image2_d.html">IntegralImage2D&lt;float, 3&gt;::getFirstOrderSumSE</a>, &amp;integral_image_XYZ_, _1, _2, _3, _4), tmp_center);</div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;    sumArea&lt;typename IntegralImage2D&lt;float, 3&gt;::SecondOrderType&gt;(start_x, start_y, end_x, end_y, width, height, boost::bind(&amp;<a class="code" href="classpcl_1_1_integral_image2_d.html">IntegralImage2D&lt;float, 3&gt;::getSecondOrderSumSE</a>, &amp;integral_image_XYZ_, _1, _2, _3, _4), so_elements);</div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160; </div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;    center[0] = float (tmp_center[0]);</div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;    center[1] = float (tmp_center[1]);</div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;    center[2] = float (tmp_center[2]);</div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160; </div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;    covariance_matrix.coeffRef (0) = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (so_elements [0]);</div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;    covariance_matrix.coeffRef (1) = covariance_matrix.coeffRef (3) = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (so_elements [1]);</div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;    covariance_matrix.coeffRef (2) = covariance_matrix.coeffRef (6) = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (so_elements [2]);</div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;    covariance_matrix.coeffRef (4) = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (so_elements [3]);</div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;    covariance_matrix.coeffRef (5) = covariance_matrix.coeffRef (7) = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (so_elements [4]);</div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;    covariance_matrix.coeffRef (8) = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (so_elements [5]);</div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;    covariance_matrix -= (center * center.transpose ()) / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (count);</div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;    <span class="keywordtype">float</span> eigen_value;</div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;    Eigen::Vector3f eigen_vector;</div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;    <a class="code" href="group__common.html#gaca873868052e7d26efcf4b684a17bef2">pcl::eigen33</a> (covariance_matrix, eigen_value, eigen_vector);</div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;    flipNormalTowardsViewpoint (input_-&gt;points[point_index], vpx_, vpy_, vpz_, eigen_vector[0], eigen_vector[1], eigen_vector[2]);</div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;    normal.getNormalVector3fMap () = eigen_vector;</div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160; </div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;    <span class="comment">// Compute the curvature surface change</span></div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;    <span class="keywordflow">if</span> (eigen_value &gt; 0.0)</div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;      normal.curvature = fabsf (eigen_value / (covariance_matrix.coeff (0) + covariance_matrix.coeff (4) + covariance_matrix.coeff (8)));</div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;      normal.curvature = 0;</div>
<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160; </div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;  }</div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;  <span class="comment">// =======================================================</span></div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (normal_estimation_method_ == AVERAGE_3D_GRADIENT) </div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;  {</div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;    <span class="keywordflow">if</span> (!init_average_3d_gradient_)</div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;      initAverage3DGradientMethod ();</div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160; </div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> start_x = pos_x - rect_width_2_;</div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> start_y = pos_y - rect_height_2_;</div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> end_x = start_x + rect_width_;</div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> end_y = start_y + rect_height_;</div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160; </div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;    <span class="keywordtype">unsigned</span> count_x = 0;</div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;    <span class="keywordtype">unsigned</span> count_y = 0;</div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160; </div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;    sumArea&lt;unsigned&gt;(start_x, start_y, end_x, end_y, width, height, boost::bind(&amp;<a class="code" href="classpcl_1_1_integral_image2_d.html">IntegralImage2D&lt;float, 3&gt;::getFiniteElementsCountSE</a>, &amp;integral_image_DX_, _1, _2, _3, _4), count_x);</div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;    sumArea&lt;unsigned&gt;(start_x, start_y, end_x, end_y, width, height, boost::bind(&amp;<a class="code" href="classpcl_1_1_integral_image2_d.html">IntegralImage2D&lt;float, 3&gt;::getFiniteElementsCountSE</a>, &amp;integral_image_DY_, _1, _2, _3, _4), count_y);</div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160; </div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160; </div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;    <span class="keywordflow">if</span> (count_x == 0 || count_y == 0)</div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;    {</div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;      normal.normal_x = normal.normal_y = normal.normal_z = normal.curvature = bad_point;</div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;      <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;    }</div>
<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;    Eigen::Vector3d gradient_x (0, 0, 0);</div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;    Eigen::Vector3d gradient_y (0, 0, 0);</div>
<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160; </div>
<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;    sumArea&lt;typename IntegralImage2D&lt;float, 3&gt;::ElementType&gt;(start_x, start_y, end_x, end_y, width, height, boost::bind(&amp;<a class="code" href="classpcl_1_1_integral_image2_d.html#a30cbef55397d0222caca466d770e4cd5">IntegralImage2D&lt;float, 3&gt;::getFirstOrderSumSE</a>, &amp;integral_image_DX_, _1, _2, _3, _4), gradient_x);</div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;    sumArea&lt;typename IntegralImage2D&lt;float, 3&gt;::ElementType&gt;(start_x, start_y, end_x, end_y, width, height, boost::bind(&amp;<a class="code" href="classpcl_1_1_integral_image2_d.html#a30cbef55397d0222caca466d770e4cd5">IntegralImage2D&lt;float, 3&gt;::getFirstOrderSumSE</a>, &amp;integral_image_DY_, _1, _2, _3, _4), gradient_y);</div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160; </div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160; </div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;    Eigen::Vector3d normal_vector = gradient_y.cross (gradient_x);</div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;    <span class="keywordtype">double</span> normal_length = normal_vector.squaredNorm ();</div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;    <span class="keywordflow">if</span> (normal_length == 0.0f)</div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;    {</div>
<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;      normal.getNormalVector3fMap ().setConstant (bad_point);</div>
<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;      normal.curvature = bad_point;</div>
<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;      <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;    }</div>
<div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160; </div>
<div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;    normal_vector /= sqrt (normal_length);</div>
<div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160; </div>
<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;    <span class="keywordtype">float</span> nx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (normal_vector [0]);</div>
<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;    <span class="keywordtype">float</span> ny = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (normal_vector [1]);</div>
<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;    <span class="keywordtype">float</span> nz = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (normal_vector [2]);</div>
<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160; </div>
<div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;    flipNormalTowardsViewpoint (input_-&gt;points[point_index], vpx_, vpy_, vpz_, nx, ny, nz);</div>
<div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160; </div>
<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;    normal.normal_x = nx;</div>
<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;    normal.normal_y = ny;</div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;    normal.normal_z = nz;</div>
<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;    normal.curvature = bad_point;</div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;  }</div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;  <span class="comment">// ======================================================</span></div>
<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160;  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (normal_estimation_method_ == AVERAGE_DEPTH_CHANGE) </div>
<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;  {</div>
<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;    <span class="keywordflow">if</span> (!init_depth_change_)</div>
<div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;      initAverageDepthChangeMethod ();</div>
<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160; </div>
<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;    <span class="keywordtype">int</span> point_index_L_x = pos_x - rect_width_4_ - 1;</div>
<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;    <span class="keywordtype">int</span> point_index_L_y = pos_y;</div>
<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;    <span class="keywordtype">int</span> point_index_R_x = pos_x + rect_width_4_ + 1;</div>
<div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;    <span class="keywordtype">int</span> point_index_R_y = pos_y;</div>
<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;    <span class="keywordtype">int</span> point_index_U_x = pos_x - 1;</div>
<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;    <span class="keywordtype">int</span> point_index_U_y = pos_y - rect_height_4_;</div>
<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;    <span class="keywordtype">int</span> point_index_D_x = pos_x + 1;</div>
<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;    <span class="keywordtype">int</span> point_index_D_y = pos_y + rect_height_4_;</div>
<div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160; </div>
<div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160;    <span class="keywordflow">if</span> (point_index_L_x &lt; 0)</div>
<div class="line"><a name="l00607"></a><span class="lineno">  607</span>&#160;      point_index_L_x = -point_index_L_x;</div>
<div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160;    <span class="keywordflow">if</span> (point_index_U_x &lt; 0)</div>
<div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160;      point_index_U_x = -point_index_U_x;</div>
<div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;    <span class="keywordflow">if</span> (point_index_U_y &lt; 0)</div>
<div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160;      point_index_U_y = -point_index_U_y;</div>
<div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160; </div>
<div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160;    <span class="keywordflow">if</span> (point_index_R_x &gt;= width)</div>
<div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160;      point_index_R_x = width-(point_index_R_x-(width-1));</div>
<div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;    <span class="keywordflow">if</span> (point_index_D_x &gt;= width)</div>
<div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160;      point_index_D_x = width-(point_index_D_x-(width-1));</div>
<div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160;    <span class="keywordflow">if</span> (point_index_D_y &gt;= height)</div>
<div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160;      point_index_D_y = height-(point_index_D_y-(height-1));</div>
<div class="line"><a name="l00619"></a><span class="lineno">  619</span>&#160; </div>
<div class="line"><a name="l00620"></a><span class="lineno">  620</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> start_x_L = pos_x - rect_width_2_;</div>
<div class="line"><a name="l00621"></a><span class="lineno">  621</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> start_y_L = pos_y - rect_height_4_;</div>
<div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> end_x_L = start_x_L + rect_width_2_;</div>
<div class="line"><a name="l00623"></a><span class="lineno">  623</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> end_y_L = start_y_L + rect_height_2_;</div>
<div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160; </div>
<div class="line"><a name="l00625"></a><span class="lineno">  625</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> start_x_R = pos_x + 1;</div>
<div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> start_y_R = pos_y - rect_height_4_;</div>
<div class="line"><a name="l00627"></a><span class="lineno">  627</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> end_x_R = start_x_R + rect_width_2_;</div>
<div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> end_y_R = start_y_R + rect_height_2_;</div>
<div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160; </div>
<div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> start_x_U = pos_x - rect_width_4_;</div>
<div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> start_y_U = pos_y - rect_height_2_;</div>
<div class="line"><a name="l00632"></a><span class="lineno">  632</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> end_x_U = start_x_U + rect_width_2_;</div>
<div class="line"><a name="l00633"></a><span class="lineno">  633</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> end_y_U = start_y_U + rect_height_2_;</div>
<div class="line"><a name="l00634"></a><span class="lineno">  634</span>&#160; </div>
<div class="line"><a name="l00635"></a><span class="lineno">  635</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> start_x_D = pos_x - rect_width_4_;</div>
<div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> start_y_D = pos_y + 1;</div>
<div class="line"><a name="l00637"></a><span class="lineno">  637</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> end_x_D = start_x_D + rect_width_2_;</div>
<div class="line"><a name="l00638"></a><span class="lineno">  638</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> end_y_D = start_y_D + rect_height_2_;</div>
<div class="line"><a name="l00639"></a><span class="lineno">  639</span>&#160; </div>
<div class="line"><a name="l00640"></a><span class="lineno">  640</span>&#160;    <span class="keywordtype">unsigned</span> count_L_z = 0;</div>
<div class="line"><a name="l00641"></a><span class="lineno">  641</span>&#160;    <span class="keywordtype">unsigned</span> count_R_z = 0;</div>
<div class="line"><a name="l00642"></a><span class="lineno">  642</span>&#160;    <span class="keywordtype">unsigned</span> count_U_z = 0;</div>
<div class="line"><a name="l00643"></a><span class="lineno">  643</span>&#160;    <span class="keywordtype">unsigned</span> count_D_z = 0;</div>
<div class="line"><a name="l00644"></a><span class="lineno">  644</span>&#160; </div>
<div class="line"><a name="l00645"></a><span class="lineno">  645</span>&#160;    sumArea&lt;unsigned&gt;(start_x_L, start_y_L, end_x_L, end_y_L, width, height, boost::bind(&amp;<a class="code" href="classpcl_1_1_integral_image2_d.html#afa15a2cacdd74265922635d908b1f4b7">IntegralImage2D&lt;float, 1&gt;::getFiniteElementsCountSE</a>, &amp;integral_image_depth_, _1, _2, _3, _4), count_L_z);</div>
<div class="line"><a name="l00646"></a><span class="lineno">  646</span>&#160;    sumArea&lt;unsigned&gt;(start_x_R, start_y_R, end_x_R, end_y_R, width, height, boost::bind(&amp;<a class="code" href="classpcl_1_1_integral_image2_d.html#afa15a2cacdd74265922635d908b1f4b7">IntegralImage2D&lt;float, 1&gt;::getFiniteElementsCountSE</a>, &amp;integral_image_depth_, _1, _2, _3, _4), count_R_z);</div>
<div class="line"><a name="l00647"></a><span class="lineno">  647</span>&#160;    sumArea&lt;unsigned&gt;(start_x_U, start_y_U, end_x_U, end_y_U, width, height, boost::bind(&amp;<a class="code" href="classpcl_1_1_integral_image2_d.html#afa15a2cacdd74265922635d908b1f4b7">IntegralImage2D&lt;float, 1&gt;::getFiniteElementsCountSE</a>, &amp;integral_image_depth_, _1, _2, _3, _4), count_U_z);</div>
<div class="line"><a name="l00648"></a><span class="lineno">  648</span>&#160;    sumArea&lt;unsigned&gt;(start_x_D, start_y_D, end_x_D, end_y_D, width, height, boost::bind(&amp;<a class="code" href="classpcl_1_1_integral_image2_d.html#afa15a2cacdd74265922635d908b1f4b7">IntegralImage2D&lt;float, 1&gt;::getFiniteElementsCountSE</a>, &amp;integral_image_depth_, _1, _2, _3, _4), count_D_z);</div>
<div class="line"><a name="l00649"></a><span class="lineno">  649</span>&#160; </div>
<div class="line"><a name="l00650"></a><span class="lineno">  650</span>&#160;    <span class="keywordflow">if</span> (count_L_z == 0 || count_R_z == 0 || count_U_z == 0 || count_D_z == 0)</div>
<div class="line"><a name="l00651"></a><span class="lineno">  651</span>&#160;    {</div>
<div class="line"><a name="l00652"></a><span class="lineno">  652</span>&#160;      normal.normal_x = normal.normal_y = normal.normal_z = normal.curvature = bad_point;</div>
<div class="line"><a name="l00653"></a><span class="lineno">  653</span>&#160;      <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00654"></a><span class="lineno">  654</span>&#160;    }</div>
<div class="line"><a name="l00655"></a><span class="lineno">  655</span>&#160; </div>
<div class="line"><a name="l00656"></a><span class="lineno">  656</span>&#160;    <span class="keywordtype">float</span> mean_L_z = 0;</div>
<div class="line"><a name="l00657"></a><span class="lineno">  657</span>&#160;    <span class="keywordtype">float</span> mean_R_z = 0;</div>
<div class="line"><a name="l00658"></a><span class="lineno">  658</span>&#160;    <span class="keywordtype">float</span> mean_U_z = 0;</div>
<div class="line"><a name="l00659"></a><span class="lineno">  659</span>&#160;    <span class="keywordtype">float</span> mean_D_z = 0;</div>
<div class="line"><a name="l00660"></a><span class="lineno">  660</span>&#160; </div>
<div class="line"><a name="l00661"></a><span class="lineno">  661</span>&#160;    sumArea&lt;float&gt;(start_x_L, start_y_L, end_x_L, end_y_L, width, height, boost::bind(&amp;<a class="code" href="classpcl_1_1_integral_image2_d.html#a30cbef55397d0222caca466d770e4cd5">IntegralImage2D&lt;float, 1&gt;::getFirstOrderSumSE</a>, &amp;integral_image_depth_, _1, _2, _3, _4), mean_L_z);</div>
<div class="line"><a name="l00662"></a><span class="lineno">  662</span>&#160;    sumArea&lt;float&gt;(start_x_R, start_y_R, end_x_R, end_y_R, width, height, boost::bind(&amp;<a class="code" href="classpcl_1_1_integral_image2_d.html#a30cbef55397d0222caca466d770e4cd5">IntegralImage2D&lt;float, 1&gt;::getFirstOrderSumSE</a>, &amp;integral_image_depth_, _1, _2, _3, _4), mean_R_z);</div>
<div class="line"><a name="l00663"></a><span class="lineno">  663</span>&#160;    sumArea&lt;float&gt;(start_x_U, start_y_U, end_x_U, end_y_U, width, height, boost::bind(&amp;<a class="code" href="classpcl_1_1_integral_image2_d.html#a30cbef55397d0222caca466d770e4cd5">IntegralImage2D&lt;float, 1&gt;::getFirstOrderSumSE</a>, &amp;integral_image_depth_, _1, _2, _3, _4), mean_U_z);</div>
<div class="line"><a name="l00664"></a><span class="lineno">  664</span>&#160;    sumArea&lt;float&gt;(start_x_D, start_y_D, end_x_D, end_y_D, width, height, boost::bind(&amp;<a class="code" href="classpcl_1_1_integral_image2_d.html#a30cbef55397d0222caca466d770e4cd5">IntegralImage2D&lt;float, 1&gt;::getFirstOrderSumSE</a>, &amp;integral_image_depth_, _1, _2, _3, _4), mean_D_z);</div>
<div class="line"><a name="l00665"></a><span class="lineno">  665</span>&#160; </div>
<div class="line"><a name="l00666"></a><span class="lineno">  666</span>&#160;    mean_L_z /= float (count_L_z);</div>
<div class="line"><a name="l00667"></a><span class="lineno">  667</span>&#160;    mean_R_z /= float (count_R_z);</div>
<div class="line"><a name="l00668"></a><span class="lineno">  668</span>&#160;    mean_U_z /= float (count_U_z);</div>
<div class="line"><a name="l00669"></a><span class="lineno">  669</span>&#160;    mean_D_z /= float (count_D_z);</div>
<div class="line"><a name="l00670"></a><span class="lineno">  670</span>&#160; </div>
<div class="line"><a name="l00671"></a><span class="lineno">  671</span>&#160; </div>
<div class="line"><a name="l00672"></a><span class="lineno">  672</span>&#160;    PointInT pointL = input_-&gt;points[point_index_L_y*width + point_index_L_x];</div>
<div class="line"><a name="l00673"></a><span class="lineno">  673</span>&#160;    PointInT pointR = input_-&gt;points[point_index_R_y*width + point_index_R_x];</div>
<div class="line"><a name="l00674"></a><span class="lineno">  674</span>&#160;    PointInT pointU = input_-&gt;points[point_index_U_y*width + point_index_U_x];</div>
<div class="line"><a name="l00675"></a><span class="lineno">  675</span>&#160;    PointInT pointD = input_-&gt;points[point_index_D_y*width + point_index_D_x];</div>
<div class="line"><a name="l00676"></a><span class="lineno">  676</span>&#160; </div>
<div class="line"><a name="l00677"></a><span class="lineno">  677</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> mean_x_z = mean_R_z - mean_L_z;</div>
<div class="line"><a name="l00678"></a><span class="lineno">  678</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> mean_y_z = mean_D_z - mean_U_z;</div>
<div class="line"><a name="l00679"></a><span class="lineno">  679</span>&#160; </div>
<div class="line"><a name="l00680"></a><span class="lineno">  680</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> mean_x_x = pointR.x - pointL.x;</div>
<div class="line"><a name="l00681"></a><span class="lineno">  681</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> mean_x_y = pointR.y - pointL.y;</div>
<div class="line"><a name="l00682"></a><span class="lineno">  682</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> mean_y_x = pointD.x - pointU.x;</div>
<div class="line"><a name="l00683"></a><span class="lineno">  683</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> mean_y_y = pointD.y - pointU.y;</div>
<div class="line"><a name="l00684"></a><span class="lineno">  684</span>&#160; </div>
<div class="line"><a name="l00685"></a><span class="lineno">  685</span>&#160;    <span class="keywordtype">float</span> normal_x = mean_x_y * mean_y_z - mean_x_z * mean_y_y;</div>
<div class="line"><a name="l00686"></a><span class="lineno">  686</span>&#160;    <span class="keywordtype">float</span> normal_y = mean_x_z * mean_y_x - mean_x_x * mean_y_z;</div>
<div class="line"><a name="l00687"></a><span class="lineno">  687</span>&#160;    <span class="keywordtype">float</span> normal_z = mean_x_x * mean_y_y - mean_x_y * mean_y_x;</div>
<div class="line"><a name="l00688"></a><span class="lineno">  688</span>&#160; </div>
<div class="line"><a name="l00689"></a><span class="lineno">  689</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> normal_length = (normal_x * normal_x + normal_y * normal_y + normal_z * normal_z);</div>
<div class="line"><a name="l00690"></a><span class="lineno">  690</span>&#160; </div>
<div class="line"><a name="l00691"></a><span class="lineno">  691</span>&#160;    <span class="keywordflow">if</span> (normal_length == 0.0f)</div>
<div class="line"><a name="l00692"></a><span class="lineno">  692</span>&#160;    {</div>
<div class="line"><a name="l00693"></a><span class="lineno">  693</span>&#160;      normal.getNormalVector3fMap ().setConstant (bad_point);</div>
<div class="line"><a name="l00694"></a><span class="lineno">  694</span>&#160;      normal.curvature = bad_point;</div>
<div class="line"><a name="l00695"></a><span class="lineno">  695</span>&#160;      <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00696"></a><span class="lineno">  696</span>&#160;    }</div>
<div class="line"><a name="l00697"></a><span class="lineno">  697</span>&#160; </div>
<div class="line"><a name="l00698"></a><span class="lineno">  698</span>&#160;    flipNormalTowardsViewpoint (input_-&gt;points[point_index], vpx_, vpy_, vpz_, normal_x, normal_y, normal_z);</div>
<div class="line"><a name="l00699"></a><span class="lineno">  699</span>&#160;    </div>
<div class="line"><a name="l00700"></a><span class="lineno">  700</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> scale = 1.0f / std::sqrt (normal_length);</div>
<div class="line"><a name="l00701"></a><span class="lineno">  701</span>&#160; </div>
<div class="line"><a name="l00702"></a><span class="lineno">  702</span>&#160;    normal.normal_x = normal_x * scale;</div>
<div class="line"><a name="l00703"></a><span class="lineno">  703</span>&#160;    normal.normal_y = normal_y * scale;</div>
<div class="line"><a name="l00704"></a><span class="lineno">  704</span>&#160;    normal.normal_z = normal_z * scale;</div>
<div class="line"><a name="l00705"></a><span class="lineno">  705</span>&#160;    normal.curvature = bad_point;</div>
<div class="line"><a name="l00706"></a><span class="lineno">  706</span>&#160; </div>
<div class="line"><a name="l00707"></a><span class="lineno">  707</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00708"></a><span class="lineno">  708</span>&#160;  }</div>
<div class="line"><a name="l00709"></a><span class="lineno">  709</span>&#160;  <span class="comment">// ========================================================</span></div>
<div class="line"><a name="l00710"></a><span class="lineno">  710</span>&#160;  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (normal_estimation_method_ == SIMPLE_3D_GRADIENT) </div>
<div class="line"><a name="l00711"></a><span class="lineno">  711</span>&#160;  {</div>
<div class="line"><a name="l00712"></a><span class="lineno">  712</span>&#160;    PCL_THROW_EXCEPTION (PCLException, <span class="stringliteral">&quot;BORDER_POLICY_MIRROR not supported for normal estimation method SIMPLE_3D_GRADIENT&quot;</span>);</div>
<div class="line"><a name="l00713"></a><span class="lineno">  713</span>&#160;  }</div>
<div class="line"><a name="l00714"></a><span class="lineno">  714</span>&#160; </div>
<div class="line"><a name="l00715"></a><span class="lineno">  715</span>&#160;  normal.getNormalVector3fMap ().setConstant (bad_point);</div>
<div class="line"><a name="l00716"></a><span class="lineno">  716</span>&#160;  normal.curvature = bad_point;</div>
<div class="line"><a name="l00717"></a><span class="lineno">  717</span>&#160;  <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00718"></a><span class="lineno">  718</span>&#160;}</div>
<div class="line"><a name="l00719"></a><span class="lineno">  719</span>&#160; </div>
<div class="line"><a name="l00721"></a><span class="lineno">  721</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00722"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#af72a8687d1eae7bb34ee730ea3f7b5a8">  722</a></span>&#160;<a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#af72a8687d1eae7bb34ee730ea3f7b5a8">pcl::IntegralImageNormalEstimation&lt;PointInT, PointOutT&gt;::computeFeature</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;output)</div>
<div class="line"><a name="l00723"></a><span class="lineno">  723</span>&#160;{</div>
<div class="line"><a name="l00724"></a><span class="lineno">  724</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a> = input_-&gt;sensor_origin_;</div>
<div class="line"><a name="l00725"></a><span class="lineno">  725</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a> = input_-&gt;sensor_orientation_;</div>
<div class="line"><a name="l00726"></a><span class="lineno">  726</span>&#160;  </div>
<div class="line"><a name="l00727"></a><span class="lineno">  727</span>&#160;  <span class="keywordtype">float</span> bad_point = std::numeric_limits&lt;float&gt;::quiet_NaN ();</div>
<div class="line"><a name="l00728"></a><span class="lineno">  728</span>&#160; </div>
<div class="line"><a name="l00729"></a><span class="lineno">  729</span>&#160;  <span class="comment">// compute depth-change map</span></div>
<div class="line"><a name="l00730"></a><span class="lineno">  730</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> * depthChangeMap = <span class="keyword">new</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>[input_-&gt;points.size ()];</div>
<div class="line"><a name="l00731"></a><span class="lineno">  731</span>&#160;  memset (depthChangeMap, 255, input_-&gt;points.size ());</div>
<div class="line"><a name="l00732"></a><span class="lineno">  732</span>&#160; </div>
<div class="line"><a name="l00733"></a><span class="lineno">  733</span>&#160;  <span class="keywordtype">unsigned</span> index = 0;</div>
<div class="line"><a name="l00734"></a><span class="lineno">  734</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> ri = 0; ri &lt; input_-&gt;height-1; ++ri)</div>
<div class="line"><a name="l00735"></a><span class="lineno">  735</span>&#160;  {</div>
<div class="line"><a name="l00736"></a><span class="lineno">  736</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> ci = 0; ci &lt; input_-&gt;width-1; ++ci, ++index)</div>
<div class="line"><a name="l00737"></a><span class="lineno">  737</span>&#160;    {</div>
<div class="line"><a name="l00738"></a><span class="lineno">  738</span>&#160;      index = ri * input_-&gt;width + ci;</div>
<div class="line"><a name="l00739"></a><span class="lineno">  739</span>&#160; </div>
<div class="line"><a name="l00740"></a><span class="lineno">  740</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> depth  = input_-&gt;points [index].z;</div>
<div class="line"><a name="l00741"></a><span class="lineno">  741</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> depthR = input_-&gt;points [index + 1].z;</div>
<div class="line"><a name="l00742"></a><span class="lineno">  742</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> depthD = input_-&gt;points [index + input_-&gt;width].z;</div>
<div class="line"><a name="l00743"></a><span class="lineno">  743</span>&#160; </div>
<div class="line"><a name="l00744"></a><span class="lineno">  744</span>&#160;      <span class="comment">//const float depthDependendDepthChange = (max_depth_change_factor_ * (fabs(depth)+1.0f))/(500.0f*0.001f);</span></div>
<div class="line"><a name="l00745"></a><span class="lineno">  745</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> depthDependendDepthChange = (max_depth_change_factor_ * (fabsf (depth) + 1.0f) * 2.0f);</div>
<div class="line"><a name="l00746"></a><span class="lineno">  746</span>&#160; </div>
<div class="line"><a name="l00747"></a><span class="lineno">  747</span>&#160;      <span class="keywordflow">if</span> (fabs (depth - depthR) &gt; depthDependendDepthChange</div>
<div class="line"><a name="l00748"></a><span class="lineno">  748</span>&#160;        || !pcl_isfinite (depth) || !pcl_isfinite (depthR))</div>
<div class="line"><a name="l00749"></a><span class="lineno">  749</span>&#160;      {</div>
<div class="line"><a name="l00750"></a><span class="lineno">  750</span>&#160;        depthChangeMap[index] = 0;</div>
<div class="line"><a name="l00751"></a><span class="lineno">  751</span>&#160;        depthChangeMap[index+1] = 0;</div>
<div class="line"><a name="l00752"></a><span class="lineno">  752</span>&#160;      }</div>
<div class="line"><a name="l00753"></a><span class="lineno">  753</span>&#160;      <span class="keywordflow">if</span> (fabs (depth - depthD) &gt; depthDependendDepthChange</div>
<div class="line"><a name="l00754"></a><span class="lineno">  754</span>&#160;        || !pcl_isfinite (depth) || !pcl_isfinite (depthD))</div>
<div class="line"><a name="l00755"></a><span class="lineno">  755</span>&#160;      {</div>
<div class="line"><a name="l00756"></a><span class="lineno">  756</span>&#160;        depthChangeMap[index] = 0;</div>
<div class="line"><a name="l00757"></a><span class="lineno">  757</span>&#160;        depthChangeMap[index + input_-&gt;width] = 0;</div>
<div class="line"><a name="l00758"></a><span class="lineno">  758</span>&#160;      }</div>
<div class="line"><a name="l00759"></a><span class="lineno">  759</span>&#160;    }</div>
<div class="line"><a name="l00760"></a><span class="lineno">  760</span>&#160;  }</div>
<div class="line"><a name="l00761"></a><span class="lineno">  761</span>&#160; </div>
<div class="line"><a name="l00762"></a><span class="lineno">  762</span>&#160;  <span class="comment">// compute distance map</span></div>
<div class="line"><a name="l00763"></a><span class="lineno">  763</span>&#160;  <span class="comment">//float *distanceMap = new float[input_-&gt;points.size ()];</span></div>
<div class="line"><a name="l00764"></a><span class="lineno">  764</span>&#160;  <span class="keywordflow">if</span> (distance_map_ != NULL) <span class="keyword">delete</span>[] distance_map_;</div>
<div class="line"><a name="l00765"></a><span class="lineno">  765</span>&#160;  distance_map_ = <span class="keyword">new</span> <span class="keywordtype">float</span>[input_-&gt;points.size ()];</div>
<div class="line"><a name="l00766"></a><span class="lineno">  766</span>&#160;  <span class="keywordtype">float</span> *distanceMap = distance_map_;</div>
<div class="line"><a name="l00767"></a><span class="lineno">  767</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> index = 0; index &lt; input_-&gt;points.size (); ++index)</div>
<div class="line"><a name="l00768"></a><span class="lineno">  768</span>&#160;  {</div>
<div class="line"><a name="l00769"></a><span class="lineno">  769</span>&#160;    <span class="keywordflow">if</span> (depthChangeMap[index] == 0)</div>
<div class="line"><a name="l00770"></a><span class="lineno">  770</span>&#160;      distanceMap[index] = 0.0f;</div>
<div class="line"><a name="l00771"></a><span class="lineno">  771</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00772"></a><span class="lineno">  772</span>&#160;      distanceMap[index] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (input_-&gt;width + input_-&gt;height);</div>
<div class="line"><a name="l00773"></a><span class="lineno">  773</span>&#160;  }</div>
<div class="line"><a name="l00774"></a><span class="lineno">  774</span>&#160; </div>
<div class="line"><a name="l00775"></a><span class="lineno">  775</span>&#160;  <span class="comment">// first pass</span></div>
<div class="line"><a name="l00776"></a><span class="lineno">  776</span>&#160;  <span class="keywordtype">float</span>* previous_row = distanceMap;</div>
<div class="line"><a name="l00777"></a><span class="lineno">  777</span>&#160;  <span class="keywordtype">float</span>* current_row = previous_row + input_-&gt;width;</div>
<div class="line"><a name="l00778"></a><span class="lineno">  778</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> ri = 1; ri &lt; input_-&gt;height; ++ri)</div>
<div class="line"><a name="l00779"></a><span class="lineno">  779</span>&#160;  {</div>
<div class="line"><a name="l00780"></a><span class="lineno">  780</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> ci = 1; ci &lt; input_-&gt;width; ++ci)</div>
<div class="line"><a name="l00781"></a><span class="lineno">  781</span>&#160;    {</div>
<div class="line"><a name="l00782"></a><span class="lineno">  782</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> upLeft  = previous_row [ci - 1] + 1.4f; <span class="comment">//distanceMap[(ri-1)*input_-&gt;width + ci-1] + 1.4f;</span></div>
<div class="line"><a name="l00783"></a><span class="lineno">  783</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> up      = previous_row [ci] + 1.0f;     <span class="comment">//distanceMap[(ri-1)*input_-&gt;width + ci] + 1.0f;</span></div>
<div class="line"><a name="l00784"></a><span class="lineno">  784</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> upRight = previous_row [ci + 1] + 1.4f; <span class="comment">//distanceMap[(ri-1)*input_-&gt;width + ci+1] + 1.4f;</span></div>
<div class="line"><a name="l00785"></a><span class="lineno">  785</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> left    = current_row  [ci - 1] + 1.0f;  <span class="comment">//distanceMap[ri*input_-&gt;width + ci-1] + 1.0f;</span></div>
<div class="line"><a name="l00786"></a><span class="lineno">  786</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> center  = current_row  [ci];             <span class="comment">//distanceMap[ri*input_-&gt;width + ci];</span></div>
<div class="line"><a name="l00787"></a><span class="lineno">  787</span>&#160; </div>
<div class="line"><a name="l00788"></a><span class="lineno">  788</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> minValue = std::min (std::min (upLeft, up), std::min (left, upRight));</div>
<div class="line"><a name="l00789"></a><span class="lineno">  789</span>&#160; </div>
<div class="line"><a name="l00790"></a><span class="lineno">  790</span>&#160;      <span class="keywordflow">if</span> (minValue &lt; center)</div>
<div class="line"><a name="l00791"></a><span class="lineno">  791</span>&#160;        current_row [ci] = minValue; <span class="comment">//distanceMap[ri * input_-&gt;width + ci] = minValue;</span></div>
<div class="line"><a name="l00792"></a><span class="lineno">  792</span>&#160;    }</div>
<div class="line"><a name="l00793"></a><span class="lineno">  793</span>&#160;    previous_row = current_row;</div>
<div class="line"><a name="l00794"></a><span class="lineno">  794</span>&#160;    current_row += input_-&gt;width;</div>
<div class="line"><a name="l00795"></a><span class="lineno">  795</span>&#160;  }</div>
<div class="line"><a name="l00796"></a><span class="lineno">  796</span>&#160; </div>
<div class="line"><a name="l00797"></a><span class="lineno">  797</span>&#160;  <span class="keywordtype">float</span>* next_row    = distanceMap + input_-&gt;width * (input_-&gt;height - 1);</div>
<div class="line"><a name="l00798"></a><span class="lineno">  798</span>&#160;  current_row = next_row - input_-&gt;width;</div>
<div class="line"><a name="l00799"></a><span class="lineno">  799</span>&#160;  <span class="comment">// second pass</span></div>
<div class="line"><a name="l00800"></a><span class="lineno">  800</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> ri = input_-&gt;height-2; ri &gt;= 0; --ri)</div>
<div class="line"><a name="l00801"></a><span class="lineno">  801</span>&#160;  {</div>
<div class="line"><a name="l00802"></a><span class="lineno">  802</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> ci = input_-&gt;width-2; ci &gt;= 0; --ci)</div>
<div class="line"><a name="l00803"></a><span class="lineno">  803</span>&#160;    {</div>
<div class="line"><a name="l00804"></a><span class="lineno">  804</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> lowerLeft  = next_row [ci - 1] + 1.4f;    <span class="comment">//distanceMap[(ri+1)*input_-&gt;width + ci-1] + 1.4f;</span></div>
<div class="line"><a name="l00805"></a><span class="lineno">  805</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> lower      = next_row [ci] + 1.0f;        <span class="comment">//distanceMap[(ri+1)*input_-&gt;width + ci] + 1.0f;</span></div>
<div class="line"><a name="l00806"></a><span class="lineno">  806</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> lowerRight = next_row [ci + 1] + 1.4f;    <span class="comment">//distanceMap[(ri+1)*input_-&gt;width + ci+1] + 1.4f;</span></div>
<div class="line"><a name="l00807"></a><span class="lineno">  807</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> right      = current_row [ci + 1] + 1.0f; <span class="comment">//distanceMap[ri*input_-&gt;width + ci+1] + 1.0f;</span></div>
<div class="line"><a name="l00808"></a><span class="lineno">  808</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> center     = current_row [ci];            <span class="comment">//distanceMap[ri*input_-&gt;width + ci];</span></div>
<div class="line"><a name="l00809"></a><span class="lineno">  809</span>&#160; </div>
<div class="line"><a name="l00810"></a><span class="lineno">  810</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> minValue = std::min (std::min (lowerLeft, lower), std::min (right, lowerRight));</div>
<div class="line"><a name="l00811"></a><span class="lineno">  811</span>&#160; </div>
<div class="line"><a name="l00812"></a><span class="lineno">  812</span>&#160;      <span class="keywordflow">if</span> (minValue &lt; center)</div>
<div class="line"><a name="l00813"></a><span class="lineno">  813</span>&#160;        current_row [ci] = minValue; <span class="comment">//distanceMap[ri*input_-&gt;width + ci] = minValue;</span></div>
<div class="line"><a name="l00814"></a><span class="lineno">  814</span>&#160;    }</div>
<div class="line"><a name="l00815"></a><span class="lineno">  815</span>&#160;    next_row = current_row;</div>
<div class="line"><a name="l00816"></a><span class="lineno">  816</span>&#160;    current_row -= input_-&gt;width;</div>
<div class="line"><a name="l00817"></a><span class="lineno">  817</span>&#160;  }</div>
<div class="line"><a name="l00818"></a><span class="lineno">  818</span>&#160; </div>
<div class="line"><a name="l00819"></a><span class="lineno">  819</span>&#160;  <span class="keywordflow">if</span> (indices_-&gt;size () &lt; input_-&gt;size ())</div>
<div class="line"><a name="l00820"></a><span class="lineno">  820</span>&#160;    computeFeaturePart (distanceMap, bad_point, output);</div>
<div class="line"><a name="l00821"></a><span class="lineno">  821</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00822"></a><span class="lineno">  822</span>&#160;    computeFeatureFull (distanceMap, bad_point, output);</div>
<div class="line"><a name="l00823"></a><span class="lineno">  823</span>&#160; </div>
<div class="line"><a name="l00824"></a><span class="lineno">  824</span>&#160;  <span class="keyword">delete</span>[] depthChangeMap;</div>
<div class="line"><a name="l00825"></a><span class="lineno">  825</span>&#160;}</div>
<div class="line"><a name="l00826"></a><span class="lineno">  826</span>&#160; </div>
<div class="line"><a name="l00828"></a><span class="lineno">  828</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00829"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#ab710003086195c2724920eae92538e48">  829</a></span>&#160;<a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#ab710003086195c2724920eae92538e48">pcl::IntegralImageNormalEstimation&lt;PointInT, PointOutT&gt;::computeFeatureFull</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> *distanceMap,</div>
<div class="line"><a name="l00830"></a><span class="lineno">  830</span>&#160;                                                                             <span class="keyword">const</span> <span class="keywordtype">float</span> &amp;bad_point,</div>
<div class="line"><a name="l00831"></a><span class="lineno">  831</span>&#160;                                                                             <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;output)</div>
<div class="line"><a name="l00832"></a><span class="lineno">  832</span>&#160;{</div>
<div class="line"><a name="l00833"></a><span class="lineno">  833</span>&#160;  <span class="keywordtype">unsigned</span> index = 0;</div>
<div class="line"><a name="l00834"></a><span class="lineno">  834</span>&#160; </div>
<div class="line"><a name="l00835"></a><span class="lineno">  835</span>&#160;  <span class="keywordflow">if</span> (border_policy_ == BORDER_POLICY_IGNORE)</div>
<div class="line"><a name="l00836"></a><span class="lineno">  836</span>&#160;  {</div>
<div class="line"><a name="l00837"></a><span class="lineno">  837</span>&#160;    <span class="comment">// Set all normals that we do not touch to NaN</span></div>
<div class="line"><a name="l00838"></a><span class="lineno">  838</span>&#160;    <span class="comment">// top and bottom borders</span></div>
<div class="line"><a name="l00839"></a><span class="lineno">  839</span>&#160;    <span class="comment">// That sets the output density to false!</span></div>
<div class="line"><a name="l00840"></a><span class="lineno">  840</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00841"></a><span class="lineno">  841</span>&#160;    <span class="keywordtype">unsigned</span> border = int(normal_smoothing_size_);</div>
<div class="line"><a name="l00842"></a><span class="lineno">  842</span>&#160;    PointOutT* vec1 = &amp;output [0];</div>
<div class="line"><a name="l00843"></a><span class="lineno">  843</span>&#160;    PointOutT* vec2 = vec1 + input_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> * (input_-&gt;height - border);</div>
<div class="line"><a name="l00844"></a><span class="lineno">  844</span>&#160; </div>
<div class="line"><a name="l00845"></a><span class="lineno">  845</span>&#160;    <span class="keywordtype">size_t</span> count = border * input_-&gt;width;</div>
<div class="line"><a name="l00846"></a><span class="lineno">  846</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> idx = 0; idx &lt; count; ++idx)</div>
<div class="line"><a name="l00847"></a><span class="lineno">  847</span>&#160;    {</div>
<div class="line"><a name="l00848"></a><span class="lineno">  848</span>&#160;      vec1 [idx].getNormalVector3fMap ().setConstant (bad_point);</div>
<div class="line"><a name="l00849"></a><span class="lineno">  849</span>&#160;      vec1 [idx].curvature = bad_point;</div>
<div class="line"><a name="l00850"></a><span class="lineno">  850</span>&#160;      vec2 [idx].getNormalVector3fMap ().setConstant (bad_point);</div>
<div class="line"><a name="l00851"></a><span class="lineno">  851</span>&#160;      vec2 [idx].curvature = bad_point;</div>
<div class="line"><a name="l00852"></a><span class="lineno">  852</span>&#160;    }</div>
<div class="line"><a name="l00853"></a><span class="lineno">  853</span>&#160; </div>
<div class="line"><a name="l00854"></a><span class="lineno">  854</span>&#160;    <span class="comment">// left and right borders actually columns</span></div>
<div class="line"><a name="l00855"></a><span class="lineno">  855</span>&#160;    vec1 = &amp;output [border * input_-&gt;width];</div>
<div class="line"><a name="l00856"></a><span class="lineno">  856</span>&#160;    vec2 = vec1 + input_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> - border;</div>
<div class="line"><a name="l00857"></a><span class="lineno">  857</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> ri = border; ri &lt; input_-&gt;height - border; ++ri, vec1 += input_-&gt;width, vec2 += input_-&gt;width)</div>
<div class="line"><a name="l00858"></a><span class="lineno">  858</span>&#160;    {</div>
<div class="line"><a name="l00859"></a><span class="lineno">  859</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> ci = 0; ci &lt; border; ++ci)</div>
<div class="line"><a name="l00860"></a><span class="lineno">  860</span>&#160;      {</div>
<div class="line"><a name="l00861"></a><span class="lineno">  861</span>&#160;        vec1 [ci].getNormalVector3fMap ().setConstant (bad_point);</div>
<div class="line"><a name="l00862"></a><span class="lineno">  862</span>&#160;        vec1 [ci].curvature = bad_point;</div>
<div class="line"><a name="l00863"></a><span class="lineno">  863</span>&#160;        vec2 [ci].getNormalVector3fMap ().setConstant (bad_point);</div>
<div class="line"><a name="l00864"></a><span class="lineno">  864</span>&#160;        vec2 [ci].curvature = bad_point;</div>
<div class="line"><a name="l00865"></a><span class="lineno">  865</span>&#160;      }</div>
<div class="line"><a name="l00866"></a><span class="lineno">  866</span>&#160;    }</div>
<div class="line"><a name="l00867"></a><span class="lineno">  867</span>&#160; </div>
<div class="line"><a name="l00868"></a><span class="lineno">  868</span>&#160;    <span class="keywordflow">if</span> (use_depth_dependent_smoothing_)</div>
<div class="line"><a name="l00869"></a><span class="lineno">  869</span>&#160;    {</div>
<div class="line"><a name="l00870"></a><span class="lineno">  870</span>&#160;      index = border + input_-&gt;width * border;</div>
<div class="line"><a name="l00871"></a><span class="lineno">  871</span>&#160;      <span class="keywordtype">unsigned</span> skip = (border &lt;&lt; 1);</div>
<div class="line"><a name="l00872"></a><span class="lineno">  872</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> ri = border; ri &lt; input_-&gt;height - border; ++ri, index += skip)</div>
<div class="line"><a name="l00873"></a><span class="lineno">  873</span>&#160;      {</div>
<div class="line"><a name="l00874"></a><span class="lineno">  874</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> ci = border; ci &lt; input_-&gt;width - border; ++ci, ++index)</div>
<div class="line"><a name="l00875"></a><span class="lineno">  875</span>&#160;        {</div>
<div class="line"><a name="l00876"></a><span class="lineno">  876</span>&#160;          index = ri * input_-&gt;width + ci;</div>
<div class="line"><a name="l00877"></a><span class="lineno">  877</span>&#160; </div>
<div class="line"><a name="l00878"></a><span class="lineno">  878</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">float</span> depth = input_-&gt;points[index].z;</div>
<div class="line"><a name="l00879"></a><span class="lineno">  879</span>&#160;          <span class="keywordflow">if</span> (!pcl_isfinite (depth))</div>
<div class="line"><a name="l00880"></a><span class="lineno">  880</span>&#160;          {</div>
<div class="line"><a name="l00881"></a><span class="lineno">  881</span>&#160;            output[index].getNormalVector3fMap ().setConstant (bad_point);</div>
<div class="line"><a name="l00882"></a><span class="lineno">  882</span>&#160;            output[index].curvature = bad_point;</div>
<div class="line"><a name="l00883"></a><span class="lineno">  883</span>&#160;            <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00884"></a><span class="lineno">  884</span>&#160;          }</div>
<div class="line"><a name="l00885"></a><span class="lineno">  885</span>&#160; </div>
<div class="line"><a name="l00886"></a><span class="lineno">  886</span>&#160;          <span class="keywordtype">float</span> smoothing = (std::min)(distanceMap[index], normal_smoothing_size_ + <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(depth)/10.0f);</div>
<div class="line"><a name="l00887"></a><span class="lineno">  887</span>&#160; </div>
<div class="line"><a name="l00888"></a><span class="lineno">  888</span>&#160;          <span class="keywordflow">if</span> (smoothing &gt; 2.0f)</div>
<div class="line"><a name="l00889"></a><span class="lineno">  889</span>&#160;          {</div>
<div class="line"><a name="l00890"></a><span class="lineno">  890</span>&#160;            setRectSize (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (smoothing), <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (smoothing));</div>
<div class="line"><a name="l00891"></a><span class="lineno">  891</span>&#160;            computePointNormal (ci, ri, index, output [index]);</div>
<div class="line"><a name="l00892"></a><span class="lineno">  892</span>&#160;          }</div>
<div class="line"><a name="l00893"></a><span class="lineno">  893</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00894"></a><span class="lineno">  894</span>&#160;          {</div>
<div class="line"><a name="l00895"></a><span class="lineno">  895</span>&#160;            output[index].getNormalVector3fMap ().setConstant (bad_point);</div>
<div class="line"><a name="l00896"></a><span class="lineno">  896</span>&#160;            output[index].curvature = bad_point;</div>
<div class="line"><a name="l00897"></a><span class="lineno">  897</span>&#160;          }</div>
<div class="line"><a name="l00898"></a><span class="lineno">  898</span>&#160;        }</div>
<div class="line"><a name="l00899"></a><span class="lineno">  899</span>&#160;      }</div>
<div class="line"><a name="l00900"></a><span class="lineno">  900</span>&#160;    }</div>
<div class="line"><a name="l00901"></a><span class="lineno">  901</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00902"></a><span class="lineno">  902</span>&#160;    {</div>
<div class="line"><a name="l00903"></a><span class="lineno">  903</span>&#160;      <span class="keywordtype">float</span> smoothing_constant = normal_smoothing_size_;</div>
<div class="line"><a name="l00904"></a><span class="lineno">  904</span>&#160; </div>
<div class="line"><a name="l00905"></a><span class="lineno">  905</span>&#160;      index = border + input_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> * border;</div>
<div class="line"><a name="l00906"></a><span class="lineno">  906</span>&#160;      <span class="keywordtype">unsigned</span> skip = (border &lt;&lt; 1);</div>
<div class="line"><a name="l00907"></a><span class="lineno">  907</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> ri = border; ri &lt; input_-&gt;height - border; ++ri, index += skip)</div>
<div class="line"><a name="l00908"></a><span class="lineno">  908</span>&#160;      {</div>
<div class="line"><a name="l00909"></a><span class="lineno">  909</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> ci = border; ci &lt; input_-&gt;width - border; ++ci, ++index)</div>
<div class="line"><a name="l00910"></a><span class="lineno">  910</span>&#160;        {</div>
<div class="line"><a name="l00911"></a><span class="lineno">  911</span>&#160;          index = ri * input_-&gt;width + ci;</div>
<div class="line"><a name="l00912"></a><span class="lineno">  912</span>&#160; </div>
<div class="line"><a name="l00913"></a><span class="lineno">  913</span>&#160;          <span class="keywordflow">if</span> (!pcl_isfinite (input_-&gt;points[index].z))</div>
<div class="line"><a name="l00914"></a><span class="lineno">  914</span>&#160;          {</div>
<div class="line"><a name="l00915"></a><span class="lineno">  915</span>&#160;            output [index].getNormalVector3fMap ().setConstant (bad_point);</div>
<div class="line"><a name="l00916"></a><span class="lineno">  916</span>&#160;            output [index].curvature = bad_point;</div>
<div class="line"><a name="l00917"></a><span class="lineno">  917</span>&#160;            <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00918"></a><span class="lineno">  918</span>&#160;          }</div>
<div class="line"><a name="l00919"></a><span class="lineno">  919</span>&#160; </div>
<div class="line"><a name="l00920"></a><span class="lineno">  920</span>&#160;          <span class="keywordtype">float</span> smoothing = (std::min)(distanceMap[index], smoothing_constant);</div>
<div class="line"><a name="l00921"></a><span class="lineno">  921</span>&#160; </div>
<div class="line"><a name="l00922"></a><span class="lineno">  922</span>&#160;          <span class="keywordflow">if</span> (smoothing &gt; 2.0f)</div>
<div class="line"><a name="l00923"></a><span class="lineno">  923</span>&#160;          {</div>
<div class="line"><a name="l00924"></a><span class="lineno">  924</span>&#160;            setRectSize (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (smoothing), <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (smoothing));</div>
<div class="line"><a name="l00925"></a><span class="lineno">  925</span>&#160;            computePointNormal (ci, ri, index, output [index]);</div>
<div class="line"><a name="l00926"></a><span class="lineno">  926</span>&#160;          }</div>
<div class="line"><a name="l00927"></a><span class="lineno">  927</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00928"></a><span class="lineno">  928</span>&#160;          {</div>
<div class="line"><a name="l00929"></a><span class="lineno">  929</span>&#160;            output [index].getNormalVector3fMap ().setConstant (bad_point);</div>
<div class="line"><a name="l00930"></a><span class="lineno">  930</span>&#160;            output [index].curvature = bad_point;</div>
<div class="line"><a name="l00931"></a><span class="lineno">  931</span>&#160;          }</div>
<div class="line"><a name="l00932"></a><span class="lineno">  932</span>&#160;        }</div>
<div class="line"><a name="l00933"></a><span class="lineno">  933</span>&#160;      }</div>
<div class="line"><a name="l00934"></a><span class="lineno">  934</span>&#160;    }</div>
<div class="line"><a name="l00935"></a><span class="lineno">  935</span>&#160;  }</div>
<div class="line"><a name="l00936"></a><span class="lineno">  936</span>&#160;  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (border_policy_ == BORDER_POLICY_MIRROR)</div>
<div class="line"><a name="l00937"></a><span class="lineno">  937</span>&#160;  {</div>
<div class="line"><a name="l00938"></a><span class="lineno">  938</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00939"></a><span class="lineno">  939</span>&#160; </div>
<div class="line"><a name="l00940"></a><span class="lineno">  940</span>&#160;    <span class="keywordflow">if</span> (use_depth_dependent_smoothing_)</div>
<div class="line"><a name="l00941"></a><span class="lineno">  941</span>&#160;    {</div>
<div class="line"><a name="l00942"></a><span class="lineno">  942</span>&#160;      <span class="comment">//index = 0;</span></div>
<div class="line"><a name="l00943"></a><span class="lineno">  943</span>&#160;      <span class="comment">//unsigned skip = 0;</span></div>
<div class="line"><a name="l00944"></a><span class="lineno">  944</span>&#160;      <span class="comment">//for (unsigned ri = 0; ri &lt; input_-&gt;height; ++ri, index += skip)</span></div>
<div class="line"><a name="l00945"></a><span class="lineno">  945</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> ri = 0; ri &lt; input_-&gt;height; ++ri)</div>
<div class="line"><a name="l00946"></a><span class="lineno">  946</span>&#160;      {</div>
<div class="line"><a name="l00947"></a><span class="lineno">  947</span>&#160;        <span class="comment">//for (unsigned ci = 0; ci &lt; input_-&gt;width; ++ci, ++index)</span></div>
<div class="line"><a name="l00948"></a><span class="lineno">  948</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> ci = 0; ci &lt; input_-&gt;width; ++ci)</div>
<div class="line"><a name="l00949"></a><span class="lineno">  949</span>&#160;        {</div>
<div class="line"><a name="l00950"></a><span class="lineno">  950</span>&#160;          index = ri * input_-&gt;width + ci;</div>
<div class="line"><a name="l00951"></a><span class="lineno">  951</span>&#160; </div>
<div class="line"><a name="l00952"></a><span class="lineno">  952</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">float</span> depth = input_-&gt;points[index].z;</div>
<div class="line"><a name="l00953"></a><span class="lineno">  953</span>&#160;          <span class="keywordflow">if</span> (!pcl_isfinite (depth))</div>
<div class="line"><a name="l00954"></a><span class="lineno">  954</span>&#160;          {</div>
<div class="line"><a name="l00955"></a><span class="lineno">  955</span>&#160;            output[index].getNormalVector3fMap ().setConstant (bad_point);</div>
<div class="line"><a name="l00956"></a><span class="lineno">  956</span>&#160;            output[index].curvature = bad_point;</div>
<div class="line"><a name="l00957"></a><span class="lineno">  957</span>&#160;            <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00958"></a><span class="lineno">  958</span>&#160;          }</div>
<div class="line"><a name="l00959"></a><span class="lineno">  959</span>&#160; </div>
<div class="line"><a name="l00960"></a><span class="lineno">  960</span>&#160;          <span class="keywordtype">float</span> smoothing = (std::min)(distanceMap[index], normal_smoothing_size_ + <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(depth)/10.0f);</div>
<div class="line"><a name="l00961"></a><span class="lineno">  961</span>&#160; </div>
<div class="line"><a name="l00962"></a><span class="lineno">  962</span>&#160;          <span class="keywordflow">if</span> (smoothing &gt; 2.0f)</div>
<div class="line"><a name="l00963"></a><span class="lineno">  963</span>&#160;          {</div>
<div class="line"><a name="l00964"></a><span class="lineno">  964</span>&#160;            setRectSize (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (smoothing), <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (smoothing));</div>
<div class="line"><a name="l00965"></a><span class="lineno">  965</span>&#160;            computePointNormalMirror (ci, ri, index, output [index]);</div>
<div class="line"><a name="l00966"></a><span class="lineno">  966</span>&#160;          }</div>
<div class="line"><a name="l00967"></a><span class="lineno">  967</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00968"></a><span class="lineno">  968</span>&#160;          {</div>
<div class="line"><a name="l00969"></a><span class="lineno">  969</span>&#160;            output[index].getNormalVector3fMap ().setConstant (bad_point);</div>
<div class="line"><a name="l00970"></a><span class="lineno">  970</span>&#160;            output[index].curvature = bad_point;</div>
<div class="line"><a name="l00971"></a><span class="lineno">  971</span>&#160;          }</div>
<div class="line"><a name="l00972"></a><span class="lineno">  972</span>&#160;        }</div>
<div class="line"><a name="l00973"></a><span class="lineno">  973</span>&#160;      }</div>
<div class="line"><a name="l00974"></a><span class="lineno">  974</span>&#160;    }</div>
<div class="line"><a name="l00975"></a><span class="lineno">  975</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00976"></a><span class="lineno">  976</span>&#160;    {</div>
<div class="line"><a name="l00977"></a><span class="lineno">  977</span>&#160;      <span class="keywordtype">float</span> smoothing_constant = normal_smoothing_size_;</div>
<div class="line"><a name="l00978"></a><span class="lineno">  978</span>&#160; </div>
<div class="line"><a name="l00979"></a><span class="lineno">  979</span>&#160;      <span class="comment">//index = border + input_-&gt;width * border;</span></div>
<div class="line"><a name="l00980"></a><span class="lineno">  980</span>&#160;      <span class="comment">//unsigned skip = (border &lt;&lt; 1);</span></div>
<div class="line"><a name="l00981"></a><span class="lineno">  981</span>&#160;      <span class="comment">//for (unsigned ri = border; ri &lt; input_-&gt;height - border; ++ri, index += skip)</span></div>
<div class="line"><a name="l00982"></a><span class="lineno">  982</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> ri = 0; ri &lt; input_-&gt;height; ++ri)</div>
<div class="line"><a name="l00983"></a><span class="lineno">  983</span>&#160;      {</div>
<div class="line"><a name="l00984"></a><span class="lineno">  984</span>&#160;        <span class="comment">//for (unsigned ci = border; ci &lt; input_-&gt;width - border; ++ci, ++index)</span></div>
<div class="line"><a name="l00985"></a><span class="lineno">  985</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> ci = 0; ci &lt; input_-&gt;width; ++ci)</div>
<div class="line"><a name="l00986"></a><span class="lineno">  986</span>&#160;        {</div>
<div class="line"><a name="l00987"></a><span class="lineno">  987</span>&#160;          index = ri * input_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> + ci;</div>
<div class="line"><a name="l00988"></a><span class="lineno">  988</span>&#160; </div>
<div class="line"><a name="l00989"></a><span class="lineno">  989</span>&#160;          <span class="keywordflow">if</span> (!pcl_isfinite (input_-&gt;points[index].z))</div>
<div class="line"><a name="l00990"></a><span class="lineno">  990</span>&#160;          {</div>
<div class="line"><a name="l00991"></a><span class="lineno">  991</span>&#160;            output [index].getNormalVector3fMap ().setConstant (bad_point);</div>
<div class="line"><a name="l00992"></a><span class="lineno">  992</span>&#160;            output [index].curvature = bad_point;</div>
<div class="line"><a name="l00993"></a><span class="lineno">  993</span>&#160;            <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00994"></a><span class="lineno">  994</span>&#160;          }</div>
<div class="line"><a name="l00995"></a><span class="lineno">  995</span>&#160; </div>
<div class="line"><a name="l00996"></a><span class="lineno">  996</span>&#160;          <span class="keywordtype">float</span> smoothing = (std::min)(distanceMap[index], smoothing_constant);</div>
<div class="line"><a name="l00997"></a><span class="lineno">  997</span>&#160; </div>
<div class="line"><a name="l00998"></a><span class="lineno">  998</span>&#160;          <span class="keywordflow">if</span> (smoothing &gt; 2.0f)</div>
<div class="line"><a name="l00999"></a><span class="lineno">  999</span>&#160;          {</div>
<div class="line"><a name="l01000"></a><span class="lineno"> 1000</span>&#160;            setRectSize (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (smoothing), <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (smoothing));</div>
<div class="line"><a name="l01001"></a><span class="lineno"> 1001</span>&#160;            computePointNormalMirror (ci, ri, index, output [index]);</div>
<div class="line"><a name="l01002"></a><span class="lineno"> 1002</span>&#160;          }</div>
<div class="line"><a name="l01003"></a><span class="lineno"> 1003</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l01004"></a><span class="lineno"> 1004</span>&#160;          {</div>
<div class="line"><a name="l01005"></a><span class="lineno"> 1005</span>&#160;            output [index].getNormalVector3fMap ().setConstant (bad_point);</div>
<div class="line"><a name="l01006"></a><span class="lineno"> 1006</span>&#160;            output [index].curvature = bad_point;</div>
<div class="line"><a name="l01007"></a><span class="lineno"> 1007</span>&#160;          }</div>
<div class="line"><a name="l01008"></a><span class="lineno"> 1008</span>&#160;        }</div>
<div class="line"><a name="l01009"></a><span class="lineno"> 1009</span>&#160;      }</div>
<div class="line"><a name="l01010"></a><span class="lineno"> 1010</span>&#160;    }</div>
<div class="line"><a name="l01011"></a><span class="lineno"> 1011</span>&#160;  }</div>
<div class="line"><a name="l01012"></a><span class="lineno"> 1012</span>&#160;}</div>
<div class="line"><a name="l01013"></a><span class="lineno"> 1013</span>&#160; </div>
<div class="line"><a name="l01015"></a><span class="lineno"> 1015</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l01016"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#ac19f02fb42b8330569161f23adf03994"> 1016</a></span>&#160;<a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#ac19f02fb42b8330569161f23adf03994">pcl::IntegralImageNormalEstimation&lt;PointInT, PointOutT&gt;::computeFeaturePart</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> *distanceMap,</div>
<div class="line"><a name="l01017"></a><span class="lineno"> 1017</span>&#160;                                                                             <span class="keyword">const</span> <span class="keywordtype">float</span> &amp;bad_point,</div>
<div class="line"><a name="l01018"></a><span class="lineno"> 1018</span>&#160;                                                                             <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;output)</div>
<div class="line"><a name="l01019"></a><span class="lineno"> 1019</span>&#160;{</div>
<div class="line"><a name="l01020"></a><span class="lineno"> 1020</span>&#160;  <span class="keywordflow">if</span> (border_policy_ == BORDER_POLICY_IGNORE)</div>
<div class="line"><a name="l01021"></a><span class="lineno"> 1021</span>&#160;  {</div>
<div class="line"><a name="l01022"></a><span class="lineno"> 1022</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l01023"></a><span class="lineno"> 1023</span>&#160;    <span class="keywordtype">unsigned</span> border = int(normal_smoothing_size_);</div>
<div class="line"><a name="l01024"></a><span class="lineno"> 1024</span>&#160;    <span class="keywordtype">unsigned</span> bottom = input_-&gt;height &gt; border ? input_-&gt;height - border : 0;</div>
<div class="line"><a name="l01025"></a><span class="lineno"> 1025</span>&#160;    <span class="keywordtype">unsigned</span> right = input_-&gt;width &gt; border ? input_-&gt;width - border : 0;</div>
<div class="line"><a name="l01026"></a><span class="lineno"> 1026</span>&#160;    <span class="keywordflow">if</span> (use_depth_dependent_smoothing_)</div>
<div class="line"><a name="l01027"></a><span class="lineno"> 1027</span>&#160;    {</div>
<div class="line"><a name="l01028"></a><span class="lineno"> 1028</span>&#160;      <span class="comment">// Iterating over the entire index vector</span></div>
<div class="line"><a name="l01029"></a><span class="lineno"> 1029</span>&#160;      <span class="keywordflow">for</span> (std::size_t idx = 0; idx &lt; indices_-&gt;size (); ++idx)</div>
<div class="line"><a name="l01030"></a><span class="lineno"> 1030</span>&#160;      {</div>
<div class="line"><a name="l01031"></a><span class="lineno"> 1031</span>&#160;        <span class="keywordtype">unsigned</span> pt_index = (*indices_)[idx];</div>
<div class="line"><a name="l01032"></a><span class="lineno"> 1032</span>&#160;        <span class="keywordtype">unsigned</span> u = pt_index % input_-&gt;width;</div>
<div class="line"><a name="l01033"></a><span class="lineno"> 1033</span>&#160;        <span class="keywordtype">unsigned</span> v = pt_index / input_-&gt;width;</div>
<div class="line"><a name="l01034"></a><span class="lineno"> 1034</span>&#160;        <span class="keywordflow">if</span> (v &lt; border || v &gt; bottom)</div>
<div class="line"><a name="l01035"></a><span class="lineno"> 1035</span>&#160;        {</div>
<div class="line"><a name="l01036"></a><span class="lineno"> 1036</span>&#160;          output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[idx].getNormalVector3fMap ().setConstant (bad_point);</div>
<div class="line"><a name="l01037"></a><span class="lineno"> 1037</span>&#160;          output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[idx].curvature = bad_point;</div>
<div class="line"><a name="l01038"></a><span class="lineno"> 1038</span>&#160;          <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l01039"></a><span class="lineno"> 1039</span>&#160;        }</div>
<div class="line"><a name="l01040"></a><span class="lineno"> 1040</span>&#160; </div>
<div class="line"><a name="l01041"></a><span class="lineno"> 1041</span>&#160;        <span class="keywordflow">if</span> (u &lt; border || v &gt; right)</div>
<div class="line"><a name="l01042"></a><span class="lineno"> 1042</span>&#160;        {</div>
<div class="line"><a name="l01043"></a><span class="lineno"> 1043</span>&#160;          output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[idx].getNormalVector3fMap ().setConstant (bad_point);</div>
<div class="line"><a name="l01044"></a><span class="lineno"> 1044</span>&#160;          output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[idx].curvature = bad_point;</div>
<div class="line"><a name="l01045"></a><span class="lineno"> 1045</span>&#160;          <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l01046"></a><span class="lineno"> 1046</span>&#160;        }</div>
<div class="line"><a name="l01047"></a><span class="lineno"> 1047</span>&#160; </div>
<div class="line"><a name="l01048"></a><span class="lineno"> 1048</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">float</span> depth = input_-&gt;points[pt_index].z;</div>
<div class="line"><a name="l01049"></a><span class="lineno"> 1049</span>&#160;        <span class="keywordflow">if</span> (!pcl_isfinite (depth))</div>
<div class="line"><a name="l01050"></a><span class="lineno"> 1050</span>&#160;        {</div>
<div class="line"><a name="l01051"></a><span class="lineno"> 1051</span>&#160;          output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[idx].getNormalVector3fMap ().setConstant (bad_point);</div>
<div class="line"><a name="l01052"></a><span class="lineno"> 1052</span>&#160;          output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[idx].curvature = bad_point;</div>
<div class="line"><a name="l01053"></a><span class="lineno"> 1053</span>&#160;          <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l01054"></a><span class="lineno"> 1054</span>&#160;        }</div>
<div class="line"><a name="l01055"></a><span class="lineno"> 1055</span>&#160; </div>
<div class="line"><a name="l01056"></a><span class="lineno"> 1056</span>&#160;        <span class="keywordtype">float</span> smoothing = (std::min)(distanceMap[pt_index], normal_smoothing_size_ + <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(depth)/10.0f);</div>
<div class="line"><a name="l01057"></a><span class="lineno"> 1057</span>&#160;        <span class="keywordflow">if</span> (smoothing &gt; 2.0f)</div>
<div class="line"><a name="l01058"></a><span class="lineno"> 1058</span>&#160;        {</div>
<div class="line"><a name="l01059"></a><span class="lineno"> 1059</span>&#160;          setRectSize (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (smoothing), <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (smoothing));</div>
<div class="line"><a name="l01060"></a><span class="lineno"> 1060</span>&#160;          computePointNormal (u, v, pt_index, output [idx]);</div>
<div class="line"><a name="l01061"></a><span class="lineno"> 1061</span>&#160;        }</div>
<div class="line"><a name="l01062"></a><span class="lineno"> 1062</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l01063"></a><span class="lineno"> 1063</span>&#160;        {</div>
<div class="line"><a name="l01064"></a><span class="lineno"> 1064</span>&#160;          output[idx].getNormalVector3fMap ().setConstant (bad_point);</div>
<div class="line"><a name="l01065"></a><span class="lineno"> 1065</span>&#160;          output[idx].curvature = bad_point;</div>
<div class="line"><a name="l01066"></a><span class="lineno"> 1066</span>&#160;        }</div>
<div class="line"><a name="l01067"></a><span class="lineno"> 1067</span>&#160;      }</div>
<div class="line"><a name="l01068"></a><span class="lineno"> 1068</span>&#160;    }</div>
<div class="line"><a name="l01069"></a><span class="lineno"> 1069</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l01070"></a><span class="lineno"> 1070</span>&#160;    {</div>
<div class="line"><a name="l01071"></a><span class="lineno"> 1071</span>&#160;      <span class="keywordtype">float</span> smoothing_constant = normal_smoothing_size_;</div>
<div class="line"><a name="l01072"></a><span class="lineno"> 1072</span>&#160;      <span class="comment">// Iterating over the entire index vector</span></div>
<div class="line"><a name="l01073"></a><span class="lineno"> 1073</span>&#160;      <span class="keywordflow">for</span> (std::size_t idx = 0; idx &lt; indices_-&gt;size (); ++idx)</div>
<div class="line"><a name="l01074"></a><span class="lineno"> 1074</span>&#160;      {</div>
<div class="line"><a name="l01075"></a><span class="lineno"> 1075</span>&#160;        <span class="keywordtype">unsigned</span> pt_index = (*indices_)[idx];</div>
<div class="line"><a name="l01076"></a><span class="lineno"> 1076</span>&#160;        <span class="keywordtype">unsigned</span> u = pt_index % input_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>;</div>
<div class="line"><a name="l01077"></a><span class="lineno"> 1077</span>&#160;        <span class="keywordtype">unsigned</span> v = pt_index / input_-&gt;width;</div>
<div class="line"><a name="l01078"></a><span class="lineno"> 1078</span>&#160;        <span class="keywordflow">if</span> (v &lt; border || v &gt; bottom)</div>
<div class="line"><a name="l01079"></a><span class="lineno"> 1079</span>&#160;        {</div>
<div class="line"><a name="l01080"></a><span class="lineno"> 1080</span>&#160;          output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[idx].getNormalVector3fMap ().setConstant (bad_point);</div>
<div class="line"><a name="l01081"></a><span class="lineno"> 1081</span>&#160;          output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[idx].curvature = bad_point;</div>
<div class="line"><a name="l01082"></a><span class="lineno"> 1082</span>&#160;          <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l01083"></a><span class="lineno"> 1083</span>&#160;        }</div>
<div class="line"><a name="l01084"></a><span class="lineno"> 1084</span>&#160; </div>
<div class="line"><a name="l01085"></a><span class="lineno"> 1085</span>&#160;        <span class="keywordflow">if</span> (u &lt; border || v &gt; right)</div>
<div class="line"><a name="l01086"></a><span class="lineno"> 1086</span>&#160;        {</div>
<div class="line"><a name="l01087"></a><span class="lineno"> 1087</span>&#160;          output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[idx].getNormalVector3fMap ().setConstant (bad_point);</div>
<div class="line"><a name="l01088"></a><span class="lineno"> 1088</span>&#160;          output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[idx].curvature = bad_point;</div>
<div class="line"><a name="l01089"></a><span class="lineno"> 1089</span>&#160;          <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l01090"></a><span class="lineno"> 1090</span>&#160;        }</div>
<div class="line"><a name="l01091"></a><span class="lineno"> 1091</span>&#160; </div>
<div class="line"><a name="l01092"></a><span class="lineno"> 1092</span>&#160;        <span class="keywordflow">if</span> (!pcl_isfinite (input_-&gt;points[pt_index].z))</div>
<div class="line"><a name="l01093"></a><span class="lineno"> 1093</span>&#160;        {</div>
<div class="line"><a name="l01094"></a><span class="lineno"> 1094</span>&#160;          output [idx].getNormalVector3fMap ().setConstant (bad_point);</div>
<div class="line"><a name="l01095"></a><span class="lineno"> 1095</span>&#160;          output [idx].curvature = bad_point;</div>
<div class="line"><a name="l01096"></a><span class="lineno"> 1096</span>&#160;          <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l01097"></a><span class="lineno"> 1097</span>&#160;        }</div>
<div class="line"><a name="l01098"></a><span class="lineno"> 1098</span>&#160; </div>
<div class="line"><a name="l01099"></a><span class="lineno"> 1099</span>&#160;        <span class="keywordtype">float</span> smoothing = (std::min)(distanceMap[pt_index], smoothing_constant);</div>
<div class="line"><a name="l01100"></a><span class="lineno"> 1100</span>&#160; </div>
<div class="line"><a name="l01101"></a><span class="lineno"> 1101</span>&#160;        <span class="keywordflow">if</span> (smoothing &gt; 2.0f)</div>
<div class="line"><a name="l01102"></a><span class="lineno"> 1102</span>&#160;        {</div>
<div class="line"><a name="l01103"></a><span class="lineno"> 1103</span>&#160;          setRectSize (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (smoothing), <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (smoothing));</div>
<div class="line"><a name="l01104"></a><span class="lineno"> 1104</span>&#160;          computePointNormal (u, v, pt_index, output [idx]);</div>
<div class="line"><a name="l01105"></a><span class="lineno"> 1105</span>&#160;        }</div>
<div class="line"><a name="l01106"></a><span class="lineno"> 1106</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l01107"></a><span class="lineno"> 1107</span>&#160;        {</div>
<div class="line"><a name="l01108"></a><span class="lineno"> 1108</span>&#160;          output [pt_index].getNormalVector3fMap ().setConstant (bad_point);</div>
<div class="line"><a name="l01109"></a><span class="lineno"> 1109</span>&#160;          output [pt_index].curvature = bad_point;</div>
<div class="line"><a name="l01110"></a><span class="lineno"> 1110</span>&#160;        }</div>
<div class="line"><a name="l01111"></a><span class="lineno"> 1111</span>&#160;      }</div>
<div class="line"><a name="l01112"></a><span class="lineno"> 1112</span>&#160;    }</div>
<div class="line"><a name="l01113"></a><span class="lineno"> 1113</span>&#160;  }<span class="comment">// border_policy_ == BORDER_POLICY_IGNORE</span></div>
<div class="line"><a name="l01114"></a><span class="lineno"> 1114</span>&#160;  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (border_policy_ == BORDER_POLICY_MIRROR)</div>
<div class="line"><a name="l01115"></a><span class="lineno"> 1115</span>&#160;  {</div>
<div class="line"><a name="l01116"></a><span class="lineno"> 1116</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l01117"></a><span class="lineno"> 1117</span>&#160; </div>
<div class="line"><a name="l01118"></a><span class="lineno"> 1118</span>&#160;    <span class="keywordflow">if</span> (use_depth_dependent_smoothing_)</div>
<div class="line"><a name="l01119"></a><span class="lineno"> 1119</span>&#160;    {</div>
<div class="line"><a name="l01120"></a><span class="lineno"> 1120</span>&#160;      <span class="keywordflow">for</span> (std::size_t idx = 0; idx &lt; indices_-&gt;size (); ++idx)</div>
<div class="line"><a name="l01121"></a><span class="lineno"> 1121</span>&#160;      {</div>
<div class="line"><a name="l01122"></a><span class="lineno"> 1122</span>&#160;        <span class="keywordtype">unsigned</span> pt_index = (*indices_)[idx];</div>
<div class="line"><a name="l01123"></a><span class="lineno"> 1123</span>&#160;        <span class="keywordtype">unsigned</span> u = pt_index % input_-&gt;width;</div>
<div class="line"><a name="l01124"></a><span class="lineno"> 1124</span>&#160;        <span class="keywordtype">unsigned</span> v = pt_index / input_-&gt;width;</div>
<div class="line"><a name="l01125"></a><span class="lineno"> 1125</span>&#160; </div>
<div class="line"><a name="l01126"></a><span class="lineno"> 1126</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">float</span> depth = input_-&gt;points[pt_index].z;</div>
<div class="line"><a name="l01127"></a><span class="lineno"> 1127</span>&#160;        <span class="keywordflow">if</span> (!pcl_isfinite (depth))</div>
<div class="line"><a name="l01128"></a><span class="lineno"> 1128</span>&#160;        {</div>
<div class="line"><a name="l01129"></a><span class="lineno"> 1129</span>&#160;          output[idx].getNormalVector3fMap ().setConstant (bad_point);</div>
<div class="line"><a name="l01130"></a><span class="lineno"> 1130</span>&#160;          output[idx].curvature = bad_point;</div>
<div class="line"><a name="l01131"></a><span class="lineno"> 1131</span>&#160;          <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l01132"></a><span class="lineno"> 1132</span>&#160;        }</div>
<div class="line"><a name="l01133"></a><span class="lineno"> 1133</span>&#160; </div>
<div class="line"><a name="l01134"></a><span class="lineno"> 1134</span>&#160;        <span class="keywordtype">float</span> smoothing = (std::min)(distanceMap[pt_index], normal_smoothing_size_ + <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(depth)/10.0f);</div>
<div class="line"><a name="l01135"></a><span class="lineno"> 1135</span>&#160; </div>
<div class="line"><a name="l01136"></a><span class="lineno"> 1136</span>&#160;        <span class="keywordflow">if</span> (smoothing &gt; 2.0f)</div>
<div class="line"><a name="l01137"></a><span class="lineno"> 1137</span>&#160;        {</div>
<div class="line"><a name="l01138"></a><span class="lineno"> 1138</span>&#160;          setRectSize (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (smoothing), <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (smoothing));</div>
<div class="line"><a name="l01139"></a><span class="lineno"> 1139</span>&#160;          computePointNormalMirror (u, v, pt_index, output [idx]);</div>
<div class="line"><a name="l01140"></a><span class="lineno"> 1140</span>&#160;        }</div>
<div class="line"><a name="l01141"></a><span class="lineno"> 1141</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l01142"></a><span class="lineno"> 1142</span>&#160;        {</div>
<div class="line"><a name="l01143"></a><span class="lineno"> 1143</span>&#160;          output[idx].getNormalVector3fMap ().setConstant (bad_point);</div>
<div class="line"><a name="l01144"></a><span class="lineno"> 1144</span>&#160;          output[idx].curvature = bad_point;</div>
<div class="line"><a name="l01145"></a><span class="lineno"> 1145</span>&#160;        }</div>
<div class="line"><a name="l01146"></a><span class="lineno"> 1146</span>&#160;      }</div>
<div class="line"><a name="l01147"></a><span class="lineno"> 1147</span>&#160;    }</div>
<div class="line"><a name="l01148"></a><span class="lineno"> 1148</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l01149"></a><span class="lineno"> 1149</span>&#160;    {</div>
<div class="line"><a name="l01150"></a><span class="lineno"> 1150</span>&#160;      <span class="keywordtype">float</span> smoothing_constant = normal_smoothing_size_;</div>
<div class="line"><a name="l01151"></a><span class="lineno"> 1151</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> idx = 0; idx &lt; indices_-&gt;size (); ++idx)</div>
<div class="line"><a name="l01152"></a><span class="lineno"> 1152</span>&#160;      {</div>
<div class="line"><a name="l01153"></a><span class="lineno"> 1153</span>&#160;        <span class="keywordtype">unsigned</span> pt_index = (*indices_)[idx];</div>
<div class="line"><a name="l01154"></a><span class="lineno"> 1154</span>&#160;        <span class="keywordtype">unsigned</span> u = pt_index % input_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>;</div>
<div class="line"><a name="l01155"></a><span class="lineno"> 1155</span>&#160;        <span class="keywordtype">unsigned</span> v = pt_index / input_-&gt;width;</div>
<div class="line"><a name="l01156"></a><span class="lineno"> 1156</span>&#160; </div>
<div class="line"><a name="l01157"></a><span class="lineno"> 1157</span>&#160;        <span class="keywordflow">if</span> (!pcl_isfinite (input_-&gt;points[pt_index].z))</div>
<div class="line"><a name="l01158"></a><span class="lineno"> 1158</span>&#160;        {</div>
<div class="line"><a name="l01159"></a><span class="lineno"> 1159</span>&#160;          output [idx].getNormalVector3fMap ().setConstant (bad_point);</div>
<div class="line"><a name="l01160"></a><span class="lineno"> 1160</span>&#160;          output [idx].curvature = bad_point;</div>
<div class="line"><a name="l01161"></a><span class="lineno"> 1161</span>&#160;          <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l01162"></a><span class="lineno"> 1162</span>&#160;        }</div>
<div class="line"><a name="l01163"></a><span class="lineno"> 1163</span>&#160; </div>
<div class="line"><a name="l01164"></a><span class="lineno"> 1164</span>&#160;        <span class="keywordtype">float</span> smoothing = (std::min)(distanceMap[pt_index], smoothing_constant);</div>
<div class="line"><a name="l01165"></a><span class="lineno"> 1165</span>&#160; </div>
<div class="line"><a name="l01166"></a><span class="lineno"> 1166</span>&#160;        <span class="keywordflow">if</span> (smoothing &gt; 2.0f)</div>
<div class="line"><a name="l01167"></a><span class="lineno"> 1167</span>&#160;        {</div>
<div class="line"><a name="l01168"></a><span class="lineno"> 1168</span>&#160;          setRectSize (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (smoothing), <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (smoothing));</div>
<div class="line"><a name="l01169"></a><span class="lineno"> 1169</span>&#160;          computePointNormalMirror (u, v, pt_index, output [idx]);</div>
<div class="line"><a name="l01170"></a><span class="lineno"> 1170</span>&#160;        }</div>
<div class="line"><a name="l01171"></a><span class="lineno"> 1171</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l01172"></a><span class="lineno"> 1172</span>&#160;        {</div>
<div class="line"><a name="l01173"></a><span class="lineno"> 1173</span>&#160;          output [idx].getNormalVector3fMap ().setConstant (bad_point);</div>
<div class="line"><a name="l01174"></a><span class="lineno"> 1174</span>&#160;          output [idx].curvature = bad_point;</div>
<div class="line"><a name="l01175"></a><span class="lineno"> 1175</span>&#160;        }</div>
<div class="line"><a name="l01176"></a><span class="lineno"> 1176</span>&#160;      }</div>
<div class="line"><a name="l01177"></a><span class="lineno"> 1177</span>&#160;    }</div>
<div class="line"><a name="l01178"></a><span class="lineno"> 1178</span>&#160;  } <span class="comment">// border_policy_ == BORDER_POLICY_MIRROR</span></div>
<div class="line"><a name="l01179"></a><span class="lineno"> 1179</span>&#160;}</div>
<div class="line"><a name="l01180"></a><span class="lineno"> 1180</span>&#160; </div>
<div class="line"><a name="l01182"></a><span class="lineno"> 1182</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l01183"></a><span class="lineno"><a class="line" href="classpcl_1_1_integral_image_normal_estimation.html#a499e7003cebffe7cf7504f0397abb3a5"> 1183</a></span>&#160;<a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a499e7003cebffe7cf7504f0397abb3a5">pcl::IntegralImageNormalEstimation&lt;PointInT, PointOutT&gt;::initCompute</a> ()</div>
<div class="line"><a name="l01184"></a><span class="lineno"> 1184</span>&#160;{</div>
<div class="line"><a name="l01185"></a><span class="lineno"> 1185</span>&#160;  <span class="keywordflow">if</span> (!input_-&gt;isOrganized ())</div>
<div class="line"><a name="l01186"></a><span class="lineno"> 1186</span>&#160;  {</div>
<div class="line"><a name="l01187"></a><span class="lineno"> 1187</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::IntegralImageNormalEstimation::initCompute] Input dataset is not organized (height = 1).\n&quot;</span>);</div>
<div class="line"><a name="l01188"></a><span class="lineno"> 1188</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l01189"></a><span class="lineno"> 1189</span>&#160;  }</div>
<div class="line"><a name="l01190"></a><span class="lineno"> 1190</span>&#160;  <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::initCompute</a> ());</div>
<div class="line"><a name="l01191"></a><span class="lineno"> 1191</span>&#160;}</div>
<div class="line"><a name="l01192"></a><span class="lineno"> 1192</span>&#160; </div>
<div class="line"><a name="l01193"></a><span class="lineno"> 1193</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_IntegralImageNormalEstimation(T,NT) template class PCL_EXPORTS pcl::IntegralImageNormalEstimation&lt;T,NT&gt;;</span></div>
<div class="line"><a name="l01194"></a><span class="lineno"> 1194</span>&#160; </div>
<div class="line"><a name="l01195"></a><span class="lineno"> 1195</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l01196"></a><span class="lineno"> 1196</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_feature_html"><div class="ttname"><a href="classpcl_1_1_feature.html">pcl::Feature</a></div><div class="ttdoc">Feature represents the base feature class. Some generic 3D operations that are applicable to all feat...</div><div class="ttdef"><b>Definition:</b> feature.h:106</div></div>
<div class="ttc" id="aclasspcl_1_1_init_failed_exception_html"><div class="ttname"><a href="classpcl_1_1_init_failed_exception.html">pcl::InitFailedException</a></div><div class="ttdoc">An exception thrown when init can not be performed should be used in all the PCLBase class inheritant...</div><div class="ttdef"><b>Definition:</b> exceptions.h:195</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image2_d_html"><div class="ttname"><a href="classpcl_1_1_integral_image2_d.html">pcl::IntegralImage2D</a></div><div class="ttdoc">Determines an integral image representation for a given organized data array</div><div class="ttdef"><b>Definition:</b> integral_image2D.h:108</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image2_d_html_a30cbef55397d0222caca466d770e4cd5"><div class="ttname"><a href="classpcl_1_1_integral_image2_d.html#a30cbef55397d0222caca466d770e4cd5">pcl::IntegralImage2D&lt; float, 3 &gt;::getFirstOrderSumSE</a></div><div class="ttdeci">ElementType getFirstOrderSumSE(unsigned start_x, unsigned start_y, unsigned end_x, unsigned end_y) const</div><div class="ttdoc">Compute the first order sum within a given rectangle</div><div class="ttdef"><b>Definition:</b> integral_image2D.hpp:112</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image2_d_html_a70bfd91805661121e56c107a98a5fd1c"><div class="ttname"><a href="classpcl_1_1_integral_image2_d.html#a70bfd91805661121e56c107a98a5fd1c">pcl::IntegralImage2D::getFirstOrderSum</a></div><div class="ttdeci">ElementType getFirstOrderSum(unsigned start_x, unsigned start_y, unsigned width, unsigned height) const</div><div class="ttdoc">Compute the first order sum within a given rectangle</div><div class="ttdef"><b>Definition:</b> integral_image2D.hpp:70</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image2_d_html_af813d8e28b73a34bc9c9d492b1bf1cb9"><div class="ttname"><a href="classpcl_1_1_integral_image2_d.html#af813d8e28b73a34bc9c9d492b1bf1cb9">pcl::IntegralImage2D::getSecondOrderSum</a></div><div class="ttdeci">SecondOrderType getSecondOrderSum(unsigned start_x, unsigned start_y, unsigned width, unsigned height) const</div><div class="ttdoc">Compute the second order sum within a given rectangle</div><div class="ttdef"><b>Definition:</b> integral_image2D.hpp:84</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image2_d_html_afa15a2cacdd74265922635d908b1f4b7"><div class="ttname"><a href="classpcl_1_1_integral_image2_d.html#afa15a2cacdd74265922635d908b1f4b7">pcl::IntegralImage2D&lt; float, 1 &gt;::getFiniteElementsCountSE</a></div><div class="ttdeci">unsigned getFiniteElementsCountSE(unsigned start_x, unsigned start_y, unsigned end_x, unsigned end_y) const</div><div class="ttdoc">Compute the number of finite elements within a given rectangle</div><div class="ttdef"><b>Definition:</b> integral_image2D.hpp:140</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_a168c03eb1553206db701656fdb0a69ba"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#a168c03eb1553206db701656fdb0a69ba">pcl::IntegralImageNormalEstimation::initCovarianceMatrixMethod</a></div><div class="ttdeci">void initCovarianceMatrixMethod()</div><div class="ttdoc">Internal initialization method for COVARIANCE_MATRIX estimation.</div><div class="ttdef"><b>Definition:</b> integral_image_normal.hpp:123</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_a214361c92cfa4fb307f973638b71663c"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#a214361c92cfa4fb307f973638b71663c">pcl::IntegralImageNormalEstimation::initData</a></div><div class="ttdeci">void initData()</div><div class="ttdoc">Initialize the data structures, based on the normal estimation method chosen.</div><div class="ttdef"><b>Definition:</b> integral_image_normal.hpp:56</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_a499e7003cebffe7cf7504f0397abb3a5"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#a499e7003cebffe7cf7504f0397abb3a5">pcl::IntegralImageNormalEstimation::initCompute</a></div><div class="ttdeci">bool initCompute()</div><div class="ttdoc">This method should get called before starting the actual computation.</div><div class="ttdef"><b>Definition:</b> integral_image_normal.hpp:1183</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_a51049e633396d653658a771a7be0bb9d"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#a51049e633396d653658a771a7be0bb9d">pcl::IntegralImageNormalEstimation::setRectSize</a></div><div class="ttdeci">void setRectSize(const int width, const int height)</div><div class="ttdoc">Set the regions size which is considered for normal estimation.</div><div class="ttdef"><b>Definition:</b> integral_image_normal.hpp:93</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_a6f9aab3bed5a81f6d81bbf5495e7514f"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#a6f9aab3bed5a81f6d81bbf5495e7514f">pcl::IntegralImageNormalEstimation::initSimple3DGradientMethod</a></div><div class="ttdeci">void initSimple3DGradientMethod()</div><div class="ttdoc">Internal initialization method for SIMPLE_3D_GRADIENT estimation.</div><div class="ttdef"><b>Definition:</b> integral_image_normal.hpp:105</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_a91460b2cb7e001192bee7df2450d3970"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#a91460b2cb7e001192bee7df2450d3970">pcl::IntegralImageNormalEstimation::~IntegralImageNormalEstimation</a></div><div class="ttdeci">virtual ~IntegralImageNormalEstimation()</div><div class="ttdoc">Destructor</div><div class="ttdef"><b>Definition:</b> integral_image_normal.hpp:46</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_ab710003086195c2724920eae92538e48"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#ab710003086195c2724920eae92538e48">pcl::IntegralImageNormalEstimation::computeFeatureFull</a></div><div class="ttdeci">void computeFeatureFull(const float *distance_map, const float &amp;bad_point, PointCloudOut &amp;output)</div><div class="ttdoc">Computes the normal for the complete cloud.</div><div class="ttdef"><b>Definition:</b> integral_image_normal.hpp:829</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_abd934a08c5d9bf148833a21e6892303a"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#abd934a08c5d9bf148833a21e6892303a">pcl::IntegralImageNormalEstimation::computePointNormal</a></div><div class="ttdeci">void computePointNormal(const int pos_x, const int pos_y, const unsigned point_index, PointOutT &amp;normal)</div><div class="ttdoc">Computes the normal at the specified position.</div><div class="ttdef"><b>Definition:</b> integral_image_normal.hpp:207</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_ac19f02fb42b8330569161f23adf03994"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#ac19f02fb42b8330569161f23adf03994">pcl::IntegralImageNormalEstimation::computeFeaturePart</a></div><div class="ttdeci">void computeFeaturePart(const float *distance_map, const float &amp;bad_point, PointCloudOut &amp;output)</div><div class="ttdoc">Computes the normal for part of the cloud specified by indices_</div><div class="ttdef"><b>Definition:</b> integral_image_normal.hpp:1016</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_adab913e619caca17ebaf950f07a7dc5b"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#adab913e619caca17ebaf950f07a7dc5b">pcl::IntegralImageNormalEstimation::initAverageDepthChangeMethod</a></div><div class="ttdeci">void initAverageDepthChangeMethod()</div><div class="ttdoc">Internal initialization method for AVERAGE_DEPTH_CHANGE estimation.</div><div class="ttdef"><b>Definition:</b> integral_image_normal.hpp:190</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_ae4653eef47ea949d65d16178549aae1a"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#ae4653eef47ea949d65d16178549aae1a">pcl::IntegralImageNormalEstimation::computePointNormalMirror</a></div><div class="ttdeci">void computePointNormalMirror(const int pos_x, const int pos_y, const unsigned point_index, PointOutT &amp;normal)</div><div class="ttdoc">Computes the normal at the specified position with mirroring for border handling.</div><div class="ttdef"><b>Definition:</b> integral_image_normal.hpp:462</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_aea7b9064b3ccab7deb396ec16ada6200"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#aea7b9064b3ccab7deb396ec16ada6200">pcl::IntegralImageNormalEstimation::initAverage3DGradientMethod</a></div><div class="ttdeci">void initAverage3DGradientMethod()</div><div class="ttdoc">Internal initialization method for AVERAGE_3D_GRADIENT estimation.</div><div class="ttdef"><b>Definition:</b> integral_image_normal.hpp:141</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_af72a8687d1eae7bb34ee730ea3f7b5a8"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#af72a8687d1eae7bb34ee730ea3f7b5a8">pcl::IntegralImageNormalEstimation::computeFeature</a></div><div class="ttdeci">void computeFeature(PointCloudOut &amp;output)</div><div class="ttdoc">Computes the normal for the complete cloud or only indices_ if provided.</div><div class="ttdef"><b>Definition:</b> integral_image_normal.hpp:722</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a3ca88d8ebf6f4f35acbc31cdfb38aa94"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">pcl::PointCloud::is_dense</a></div><div class="ttdeci">bool is_dense</div><div class="ttdoc">True if no points are invalid (e.g., have NaN or Inf values).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:418</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a5de17e88bdf15e1c4fd1bcc6b85b1941"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">pcl::PointCloud::sensor_orientation_</a></div><div class="ttdeci">Eigen::Quaternionf sensor_orientation_</div><div class="ttdoc">Sensor acquisition pose (rotation).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:423</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_aad7c2cd4b0d1c7f0fbc096276b5e2230"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">pcl::PointCloud::sensor_origin_</a></div><div class="ttdeci">Eigen::Vector4f sensor_origin_</div><div class="ttdoc">Sensor acquisition pose (origin/translation).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:421</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="agroup__common_html_gaca873868052e7d26efcf4b684a17bef2"><div class="ttname"><a href="group__common.html#gaca873868052e7d26efcf4b684a17bef2">pcl::eigen33</a></div><div class="ttdeci">void eigen33(const Matrix &amp;mat, typename Matrix::Scalar &amp;eigenvalue, Vector &amp;eigenvector)</div><div class="ttdoc">determines the eigenvector and eigenvalue of the smallest eigenvalue of the symmetric positive semi d...</div><div class="ttdef"><b>Definition:</b> eigen.hpp:251</div></div>
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